Is it possible to enter Mexico from the US for just an afternoon or so?

Question

We're from Europe and planning to visit the USA next spring. We plan to visit El Paso on the way from Dallas to Los Angeles. We were wondering if it is possible to enter Mexico, just for an afternoon, since it is just across the river. Do we have to stand in line for a long time? Is there anything to do or see in Ciudad Juarez? Is it easy to get back in the US, or do we have to stand in line again? Should we take the car or can we just walk across the border?

Update:

For Mexico we have Visa-Free access, and for the USA we will have an Visa at the time.

Answer 1

If you enter Juarez you are likely to come back in a body bag.

Answer 2

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Answer 3

im from uk ..many times been to tijuana ..parked up and walked across the bridge ...other times i just drove across border ..and back ...never had a problem