First of all, the food was wonderful. We went to many of the other places like Keoki's, Poipu Broiler, etc. and they were fine, but this place was a step above... a true culinary experience. The meals are in line with what you would pay at most of the other nice restaurants (around $25 for an entree) but worth it.
The restaurant is tough to find... it's not in the busy Poipu Shopping Center so much of the other stuff is. From Brenneke's go east about 200 yards on Pee Road you'll see the sign. It's one block off the beach.
As a note on Brenneke's... It's an excellent beach bar, where you may want to get some afternoon cocktails during happy hour and enjoy the excellent view of the ocean, but skip it for dinner.