Softlanding by walk at Niagara

Hi All,

I am planning for a soft landing along with my family (wife + baby) at Niagara location.

  1. Can I use any bridge to cross?
  2. Can I just walk across instead of in a car? (I am planning to stay in Canada for few days. So I would like to rent a car on other side.)
  3. How long does this take? (Especially because I am walking across)