Access from Riley's Mt, Mulgoa to Nepean River water's edge?

[Wollemi]

Is it possible to scramble from the Mulgoa side of the Blue Mts National Park down to the Nepean River, preferable from Riley's Mountain?

Plan is to then swim across the Nepean River to then walk the Fern Glen Track up to Euroka Campground and out to Glenbrook village.
For anyone that has done it, is rope or tape required?

EDIT; 28/07. Trip was done as a team of two on a very sunny day. The trip, overall, was quite pleasant.
If you know what you are doing, 30 metres of flat tubular/climbers tape will get you down. I'd, instead, take a 40m abseiling rope again.
Here is my public fb post - maybe don't read it if you think too much detail may spoil the trip for yourself. Cheers.

https://www.facebook.com/permalink.php? ... =680679306