There are a number of possible ways to the top - the crux being the cliffs that circle the summit plateau. We chose a ridge that went further north but appeared to be pitched more moderately with more breaks in the cliffs.
See the main text. Park your car where you feel comfortable.
Wherever you park, follow the road to a signed road "junction" see map
The trick is to get onto this broad ridge on the map to the NNE.
Down low you may have to battle with the brush and deal with some drainages first, but soon you should be able to ascend out of this and onto this ridge. The slope opens up in front of you. It is mostly open, and there always seems to be some opening through the brush, but at times you may have to barge through the brush directly. You are aiming for the obvious cliffs directly above you. We found plenty of ways through the rocks. Beware, the rock itself is rotten, and don't depend on it to bear your weight. Nevertheless, there are a few "stair-step" sections and at worst the exposure may be 10-15 feet. Keep an eye out for cactus and agave plants.
Once on top the plateau, aim for the obvious summit hill. A set of square rock pillars will be visible on the north end of this summit hill. Walk through the trees and rocks toward these pillars. A cleft on the east side of these pillars allows passage up onto the summit ridge itself. From here it's another 5 minute walk to the summit, at the south end of the hill.
Return the same way. A GPS is handy to mark some waypoints, especially where you entered onto the plateau from the cliffs.
From Procopio Spring the round trip hike is about 10 miles with about 3,000 feet of gain.
Long pants, good shoes, gloves. There are plenty of spiny and thorny plants to get you. The rock slopes are loose, so trekking poles may be useful, too. Bring water.