Take 580 to 205 (toward Stockton/Tracy). From this point you could probably just follow signs for Yosemite the whole way there.
Take 205 through Manteca, where it will spit you onto 120E. Stay on 120 though Oakdale (stop at Del Taco if you have Ron in your car. This is also probably the last place with decent gas prices, so I recommend getting some gas to avoid the +$0.30/gal or so you'd probably find closer to the valley).
After Oakdale, 120 combines with 108. About twenty miles after 108 joins, it will split off to the left with 49. You need to make a slight right to continue following 120. (If you see Jamestown or Sonora, you're on the 108/49 and need to turn around and go back to look for where 120 split off)
From here, 120 will get you all the way into the park. 120 will run into El Portal Road, where you will take a left (I think there is a sign there saying "Yosemite Valley destinations" or something like that). El Portal will become 1-way and send you over a bridge so that the Merced River is on your left. (If it's on your right, watch out for on-coming traffic, and you're a noob)
Continue along El Portal and it will become Southside Drive. A road will branch off to the left to the visitor center/ Yosemite Lodge, but stay to the right on Southside Drive.
Remain on Southside Drive past Curry Village, and look for a turn off for North/Lower/Upper Pines on your left. After turning left, take the first right into the Upper Pines Campground. Find our site and eat dinner, yay!
Here's a map of the highways. I suggest getting a google map of "Berkeley, CA" to "Yosemite National Park, CA," for more specific directions. (Google suggests taking Old Priest Grade instead of a segment of 120, but you can just stay on 120. 120 is less steep and windier, Old Priest Grade is steeper and less windy)
Here's a map of the valley.
Here is a map of the Upper Pines campground. We're site 28.
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