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From the car park at Brunestegen, walk for about 200 meters on the road you came from, until you see the sign Brunen/ Kvigedalen. Follow the marked path through through old hayfields. After about 30 minutes, you arrive at Brunen. The view is spectacular, but be careful and don't walk to close to the edge.
From here, you follow the path to Kvigedalen, before you continue to Skårselvi and a crossing to several paths. The path from here to the car park is quite easy.