When you going to be down here? If I'm around, I'd be glad to show you the way.
Basically, when you get off at the Fruita exit, head north. Go straight thru 2 stop signs, then right (East) at the 3rd stop sign, onto Ottley. Now heading east, you'll go about 4 miles out of town. Eventually the road will make a slight 'S' curve, and 21 Road (the street) will be right in front of you. Hang a left (North) and follow 21 Road for a few miles. It makes a curve towards the end, winds around a bit then ends up on a dirt road. Follow the dirt road for a few more miles and park your tow rigs when you get close to the foothills. The canyon will be right in front of you, follow the road up & drop into the wash. Have fun!
While you're out here, you should check out Billings Canyon... it's pretty difficult though, so you'll need the right rigs. Don't ask for directions to othat one, it's pretty hard to find.