Kirk,
About a year ago, I picked up MotionX GPS for my IPhone, predominantly for hiking, although useable for any type of walking/driving. Of all that I researched, it was held in the highest regard by reviewers. It has a number of features, including the option to download and use topo maps from various Federal/State/local agencies (Fed Parks, BLM etc).
You might wish to take a look at it (gps.motionx.com). I have found it quite easy to use and it seems to be reasonably accurate.
Marv