I have not actually walked this trail as such although I have walked most parts of it.

There is a full description at http://shereparishcouncil.gov.uk/wp-content/uploads/2015/05/shere_millen... (or search for Shere Parish Milennium Trail)
This description starts the walk at Peaslake as a figure of eight. You could also park at Shere Recreation ground car park for the northern most section and Holmbury hill car park for the southern section.