Half Dome from the Snow Creek Trail
This viewpoint is from the Snow Creek Trail just below the canyon rim. If you're hiking up from the valley, you'll be able to see Half Dome for much of your trek, albeit from an infinitesimally higher angle with each step, culminating with views like this one or the ones from the rim. The photo below shows how Half Dome looks from near the bottom of the trail.
Half Dome from the Lower Half of the Snow Creek Trail