You can enter Mexico from California via either of two crossings at Tijuana (Otay Mesa and San Ysidro) at Tecate, or at Mexicali. Ill be posting directions soon.
We're assuming you're heading south on Interstate 5 from San Diego. After you cross the border you'll want to get in the second lane from the right. You'll pass the offramp to Tijuana and then stay to the right. You'll see a sign that reads "Rosarito Beach, Ensenada Scenic Route".
Watch the signs and get on the toll road. You'll pay tolls of a couple of dollars each at three tollbooths and arrive in Ensenada in less than two hours if you stay at the speed limit.
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