For starters, the trip must be made for more than 1 day, the road is long and narrow, best if you go with time to spare. you could sleep in nearby towns of Barahona and Pedernales.
There are two ways to go to Bahia form Cabo Rojo, on a boat or on a true off road jeep (avoid town SUVs) or boat, I recommend the later (15 to 20 minutes trip).
There is not much shade so bring your sun block, you can carry refreshments in the boat or order them form the restaurant in the entrance, they will bring you lunch to the beach if you arrange it.
Overall is a beautiful beach and is worth the trip.
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