I've been doing this drive at least a couple of times a year (and, of course, more frequently when we lived near the PV Peninsula) since the late 1950s/early 1960s. It's always been spectacular! At night with a full moon and all the stars...what bliss!!
In fact, if we have time after the "Taste of San Pedro" festival at Pt. Fermin (just a few miles southeast of PV Drive South), my sister, mom, and I plan to take my two nephews (7 and 8 years old) later today. If we can get into Pt. Vicente (which had been closed to the public for a while), so much the better.
Northbound to Redondo Beach, turn onto 25th Street in San Pedro (left if you're coming from Royal Palms State Beach or from Pt. Fermin; right if you're coming south on Western or Gaffey). It becomes PV Drive South at the RPV city limits. Follow it north--it turns into PV Drive West. (Take it easy for the 4/5 of a mile around Portuguese Bend; the road can be quite dippy and bumpy from all the years of land movement, although it's been much smoother recently.) At Malaga Cove where PV Drive North and Palos Verdes Blvd. meet, bear left onto PV Blvd., which will take you into what's known as the Hollywood Riviera (the southwesternmost point of Torrance, where most of the properties on both sides of PV Blvd. have a gorgeous view of the Pacific) and Redondo Beach.
The directions reverse, of course, for the southbound route back into San Pedro.
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