Starting from the Norris Creek trail head follow the trail up to Lady Lake. From Lady Lake, the eastern face of Madera Peak will be directly to the west. The trails to this point are well marked and it should take no more then a couple hours to get here from the trail head.
From Lady Lake, hike west to the bottom of the face. After scrambling up about 100 feet of rock, turn left and head south. Continue scrambling up the easiest line until meeting the ridge. From the ridge a use trail will take you around the rim shaped ridge and to the top of Madera Peak.
If snow is present, crampons and ice axe will be required to obtain the summit ridge. If dry, a pair of comfortable hiking shoes should suffice.
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