A BE55 ACFT PENETRATED RESTR AIRSPACE. UNAUTH PENETRATION OF AIRSPACE.

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I DEPARTED WITH ANOTHER COMPANY PLT FLYING TO SAN IN A BE55 BARON. WE WERE IFR AND WOULD RETURN TO SJC VFR ON THE COAST. WE DISCOVERED THAT WE HAD LEFT THE LOS ANGELES VFR CHART IN SJC WHEN IT WAS TIME TO DEPART FROM SAN. I SUGGESTED TO THE OTHER PLT THAT HE PURCHASE A CHART FROM THE FBO BUT HE DECLINED AND DECIDED TO TAKE OFF ANYWAY FOR CATALINA. AFTER CATALINA WE HEADED N FOR OXNARD USING THE LORAN AND THE RADAR TO MAP THE COAST FOR NAV AND CONSULTING THE LOW ALT ENRTE CHART. 5 MINS OUT FROM CATALINA HE HANDED ME THE CTLS AND GAVE ME A HDG THAT HE SAID WOULD CLR THE RESTR AREA. AS I APCHED THE COAST I QUESTIONED HIM AGAIN AND HE SAID THAT THE RESTR AREA WAS JUST OFF THE COAST; SO AS LONG AS WE WERE ON THE SHORE WE WOULD BE ALL RIGHT. AS WE FLEW OVER THE TOP OF POINT MAGU NAVAL AIR STATION ABOVE THE CLASS D AIRSPACE; I LOOKED IN A PLT'S GUIDE FOR OXNARD'S FREQ. I THEN SAW THE RESTR AREA R2519 EXTENDED INLAND TO THE BASE WHERE WE HAD JUST FLOWN. SINCE WE WERE ALREADY PAST IT; WE CONTINUED ON TO SJC. WE HAD ONLY CLIPPED THE NORTHERN CORNER OF THE RESTR AREA OVER THE RWY. WE COULD HAVE AVOIDED THIS IF I HAD INSISTED THAT THE OTHER PLT PURCHASE THE CHARTS OR REFUSED TO TAKE CTL OF THE ACFT WITHOUT PROPER CHARTS. WE COULD HAVE ALSO RECEIVED FLT FOLLOWING AND ALLOWED ATC TO ASSIST US IN AVOIDING R2519. THE OTHER PLT IS SENIOR TO ME IN THE COMPANY AND HAS MORE FLYING TIME; SO I DID NOT QUESTION HIS DECISION TO DEPART WITHOUT THE CHARTS. IN THE FUTURE; I WILL NOT ALLOW THIS TO INFLUENCE MY JUDGEMENT.