You can print a small wilderness map (pdf) for use when hiking the main canyon.  You may want to laminate it to protect it from moisture.  Approximate hiking distances are shown on the map

More detailed maps will provide better navigational capabilities.  The following link provides a grid of the U.S. Geological Survey (USGS) 7.5' topographic maps which covers Aravaipa Canyon and surrounding area.  Maps are available from map stores, some sporting good stores, and the USGS at www.usgs.gov or USGS, Federal Center, Building 41, Denver, CO 80225.