From Charleston:

Take I-26 West to I-95 North (about 50 miles). Cross Lake Marion and turn right on Exit 102. Follow signs to US 15 North. Take US 15 N to St. Paul's (Y fork in road, 4.8 miles) and turn left, getting off US 15. Proceed for another 1.2 miles and look for large brick Liberty Hill Church on your left. Turn left just beyond cemetery and proceed ahead for about 10 miles to a stop sign with railroad tracks. Continue straight ahead (entering Sumter County – note sign). Go another 4 miles and look for the first historical marker, then 1 more mile and look for "Richard Richardson Historical Marker" and St. Mark's Episcopal Church on the right, then turn left on to the dirt road. Go straight ahead for another mile and you will see a white frame house on the right. Continue straight until you see the Millford gates. From there, you will be directed to parking and the Mansion.

From Columbia:

Take Highway 378 and 76 towards Sumter, go approximately 20 miles and you will cross the Wateree River. At the top of the hill cross the river, there is an intersection with S.C. Highway 261. Turn right on Highway 261, go approximately 15 miles, you will see signs for Rimini. Turn right on Camp Mac Boykin Road. Go approximately 1 mile and look for "Richard Richardson Historical Marker" and St. Mark's Episcopal Church on the left, turn right on to the dirt road. Go straight ahead for another mile and you will see a white frame house on the right. Continue straight until you see the Millford gates. From there, you will be directed to parking and the Mansion.

From I-95, Florence and all points North:

Take I-95 South to Ext. 119 (Hwy 261) Manning-Paxville. Take a right off the ramp to Paxville, and continue through Paxville to Pinewood. Continuing on Hwy 261, cross the railroad track and caution light, and proceed about 1 mile. Turn left on Millford Plantation Road. At the next crossroad, turn right on Camp Mac Boykin Road and continue 1 mile to the next crossroad (look for "Richard Richardson Historical Marker" and St. Mark's Episcopal Church on the right), then turn left on to the dirt road. Go straight ahead for another mile and you will see a white frame house on the right. Continue straight until you see the Millford gates. From there, you will be directed to parking and the Mansion.