The Rinsleyfelsen is one of the 43 Sauerland-Seelenorte in the Sauerland-Wanderdörfer.
The history of the Seelenorte by Michael Gleich and other useful information can be found at https://www.sauerland-wanderdoerfer.de/de/Sauerland-Seelenorte/Die-43-Seelenorte/Rinsleyfelsen
The Kur- und Bürgerhaus in Saalhausen is a good starting point for a hike to the rock. From here, you hike 7 km along the forest adventure trail and end with a short climb to the Rinsleyfelsen.