The easiest and most convenient way of getting back to the US is again on foot. If you are traveling by car, expect big congestions. Waiting times of more than two or three hours are common. On the other hand, crossing the border on foot may take you less than 30 minutes. Remember that this is the world's number one land crossing border, with more than 40 million people last year.
If you are a US citizen you will need a passport to get back to San Ysidro (USA). Non-US citizens will need a Passport, an I-94 from, and a Multiple Entry Visa or a Resident Alien Card.
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