Take BART (orange or green line) to the Hayward station (NOT South Hayward). You can click to see the official BART weekend train schedules for the Orange and Green lines.
Then:
1. Get picked up by a Dancer (aka Dance Shuttle) at 3:45 PM. (This option requires that you pre-register, bring a cell phone, and provide its number on the pre-registration form.), or
2. Walk for 30 minutes along B Street to Linden Street, or