Situated just north of the Biltmore, Piestewa Peak (formerly Squaw Peak) offers a magnificent view of the valley. The summit is quite accessible for even a novice climber willing to make the trek to the top. Just be careful to watch your step, especially coming down, because the rocks can be slippery and unstable in certain places. I've rolled my ankle a time or two trying to sprint down the last part of the path. Give yourself about 1.5-2 hrs from the parking lot.
Piestewa is an easier climb than Camelback mountain, but more difficult than North and South Mountain. The parking is also very good. When you drive in through Squaw Peak Drive, keep your eyes pealed on the left and right for various openings. Turnover is pretty quick especially during "peak" hours.
If you're interested in an insane Arizona bucket list challenge, check out the Phoenix Summit Challenge (http://www.azpra.org/PSC). Complete anywhere from 4-7 of AZ's finest hills in less than 11 hours! You'll find Piestewa Peak on the list.