Did the Sacramento Hiking Group Meetup from Crocker Park to Discovery Park and then across the Tower Bridge to West Sacramento's Riverwalk Park, where we listened to the the Mighty Delta Roadmasters. (They were really good!) I took my seven-year old along and he enjoyed both the hike and the music.
This is a 4.13 mile walk that takes you to the point where the American River meets the Sacramento River. It is a nice mid-week walk. You may come across some homeless people on this walk, but the bike path is traveled pretty regularly by people, so it should be safe. Even so, walking with others may make some people feel more comfortable.
Park your car at Crocker Park (parking is free after 6:00 p.m. and free on Sunday). Walk across overpass (over I-5). Follow sidewalk. To avoid crossing the street at the I Street bridge, take the walkway under the bridge to the moored boats. Walk through Old Sacramento to the end of the Railroad Museum. Follow the bike path to Discovery Park. Cross the Jiboom Street Bridge to cross the American River. Return following the same route.
A shot of the Tower Bridge from the West Sacramento side of the river.