No special access issues
The rock is easy to find. Go from Modra towards Zochova chata and after a few months minutes driving, you see a parking lot on the right hand side (one more parking is about 100m higher on the left if the bottom one is full).
From parking lot, at it top, you will find a path towards the woods, that crosses a small stream over a bridge. Then you find a bigger forest road and go uphill for one minute to reach the rock. Boulders are all around and routes are from the back.
Continue further on the road and you will reach Horná Medvedia skala in about 10 mins.