Gladesville ferry wharf has good access by road, just off Victoria Road. There are good bus links and frequent ferries, but no trains. This is a popular starting point for cruises due to the convenient access from the North side of the river, but it does get quite busy, and therefore boarding can be a little tricky as charter boats need to give way to Sydney ferries.
Generally there is no charge for using this wharf.
There is a good size car park next to the wharf.