The San Ysidro Port of Entry is the busiest land border crossing in the world, a fact that is easier to appreciate once you've seen it in person. On the Mexican side, the crossing is almost invisible — you walk through a turnstile and you're in Tijuana. Heading north, the experience is dramatically different: vehicles queue in up to 24 lanes; pedestrians queue in a separate facility; wait times of one to three hours for northbound crossings are normal on weekends.
The crossing itself — and the spectacle of the queue — is worth seeing even if you're not crossing. The pedestrian bridge on the Mexican side offers a view of the vehicle lanes stretching back toward the US inspection booths that captures, better than anything else, the sheer volume of human movement across this border.
For practical travel: walking across in the pedestrian lane is almost always faster than driving. The border is open 24 hours, though waits are shortest very early in the morning or late at night. US citizens need their passport; ESTA (or a US visa) is required for non-US nationals entering from Mexico.