The Gates of the Valley
You can find this spot, also known as Valley View, along Northside Drive near the western end of the valley, as you approach the valley exits. There'll be a pullout on your left with a dozen or so parking spots. Like as not, there will also be a raven pair hanging around - I see one nearly every time I'm there. (Ravens, by the way, mate for life.)
That's El Capitan, the world's tallest granite monolith, on the left, and Bridalveil Fall on the right.