Family RV Trip to the Black Hills (RV Planning Guide)

This planning guide for a family RV trip to the Black Hills is full of ideas, activities & experiences for your family to enjoy on a 5-day trip to South Dakota.

family rv trip view from rapid city rv park campground

Last updated May 2023

South Dakota is one of our favorite vacation spots. The first time we went there as a family our daughter had just turned 2 years old I was pregnant with our son. The second time (which is outlined in this post) the kids were a bit older (preschool/lower-elementary age) so we were more than ready to head back with our RV to experience 5 days of fun together in the Black Hills. In this post you’ll find 5 days of fun things to do, rv friendly meal ideas, and recommendations for places to stay with your RV. Camper or no camper, these are all great sites to visit on your trip to the Black Hills. Happy trails!

Things to Do

Day One: Badlands National Park and the Dinosaur Park in Rapid City

Finally after all of our traveling vacation had begun! The kids loved Badlands National Park. After showing them what prairie rattlesnakes looked like so they could be prepared if they saw one, our son proclaimed, “I will call this place Snake Mountain.” Fortunately, we did not run into any rattlesnakes. We spent about two hours roaming around outside the Visitor’s Center and on the Fossil Exhibit Trail.

After our picnic lunch in the Badlands, we traveled the rest of the way to our campground in Rapid City. After we set up the RV and relaxed for a little while we took the beautiful Skyline Drive to the Dinosaur Park. The views from Skyline Drive and the Dinosaur Park are gorgeous. The kids loved climbing and running around the park, but if you ask them their favorite part was the ice cream at the gift shop. Of course.

Day Two: Mt. Rushmore and the 1880 Train in Keystone

If you are visiting Mt. Rushmore National Memorial, I highly suggest waking up early and getting there right away. We arrived at 7:15 AM: parking was a breeze and it wasn’t crowded at all! We stayed at Mt. Rushmore for three hours learning and exploring. The Presidential Trail and the Sculpture Studio were neat experiences for all of us, and the kids loved participating in the Junior Ranger program.

mount rushmore national memorial on our rv trip

“The four American Presidents carved into the granite of Mount Rushmore were chosen by the sculptor to commemorate the founding, growth, preservation, and development of the United States. They symbolize the principles of liberty and freedom on which the nation was founded. George Washington signifies the struggle for independence and the birth of the Republic; Thomas Jefferson the territorial expansion of the country; Abraham Lincoln the permanent union of the States, and equality for all citizens; and Theodore Roosevelt, the 20th century role of the United States in world affairs and the rights of the common man.”
The Meaning of Mount Rushmore, NPS

After our long stay at Mt. Rushmore, we took a relaxing round-trip ride on the 1880 Train from Keystone to Hill City and back. If we were to do this again, we’d leave more time between trips for exploring Hill City.

1880 train keystone, sd getting ready to go

Day Three: Bear Country, Reptile Gardens, Cosmos Mystery Area, Rushmore Tramway Adventures, Storybook Island… oh my!

This was a jam-packed day but I wouldn’t plan it differently on future trips. It started with more involved activities and ended up to be a very relaxing afternoon & evening for all of us.

We almost didn’t go to Bear Country because we drove through it on our last trip to South Dakota. We were glad we went back because the kids went nuts over the experience. They loved seeing all of the animals, and especially enjoyed the Wildlife Walkway.

After our drive and experience at Bear Country, we went straight to the Reptile Gardens. The kids loved the animals, reptiles, and the snake show. There is a lot to see at Reptile Gardens, and I’d advise getting there when they open or shortly after.

the botanical gardens at reptile gardens

As we were driving by, we decided to pull in to the Cosmos Mystery Area. From their website, “You’ll wonder how it all works at this mysterious attraction where you can stand on the walls and balls roll uphill.”

My husband and the kids enjoyed being off balance much more than I did. I mostly observed this wacky place sitting on a stable, flat foundation: the ground.

After the mystery area, we went to Keystone to check out the Rushmore Tramway Adventures. We had so much fun with the kids on the chair lift! Before we went down the super-fun alpine slide, we had a snack at the Mountain Top Grille which overlooks the beautiful Black Hills National Forest and Mount Rushmore.

Finaly, at the end of the day we went to Storybook Island. We had gone with our daughter when she was a toddler, and she loved it then as much as she loved it again on this trip. This is a unique, can’t miss park to explore with your kids. Bonus: admission is FREE in the summer.

Day Four: Devil’s Tower in Wyoming, Spearfish City Park, Bridal Veil Falls, Deadwood

We saw gorgeous views this day! We took I-90 through Sundance, WY and came in to Devil’s Tower from the south. Since we couldn’t hike the trails around the tower because we had our dog with us, so instead we hiked around the picnic area, campground, and prairie dog town. We had a picnic lunch and then took off for Spearfish taking WY-24 through Aladdin. A bit of advice: we rarely had cell service, so we relied on our paper road atlas. (Real maps are handy out west!) The landscapes we drove through were stunning.

a perk of rv trips to the black hills-- mini road trip to devil's tower

We all needed a break from the truck on our way back to Rapid City, so we stopped at Spearfish City Park for some exercise. The kids loved the playground and had lots of fun.

On our way to Deadwood we drove through Spearfish Canyon and stopped at Bridal Veil Falls. From their website, “Cascading approximately 60 feet, Bridal Veil Falls is the most accessible waterfall in the canyon. The Falls flows intensely in the spring and slows considerably in late summer and fall. it is located adjacent to a large parking lot to accommodate sightseers.” Beautiful!

We arrived in Deadwood around 2:30 and dropped in at Mustang Sally’s for an early supper (it was 2:30 after all.) They allow dogs on their patio, so we got to sit outside with Sunny. After we ate at the restaurant we watched the 4:00 PM street show “Main Street Shootouts“.

This was a long day of driving, so we were happy to get back to our camper and relax!

Day Five: Custer State Park

Iron Mountain Road

My husband’s number one request on this vacation was to take was to take Iron Mountain Road to Custer State Park. It was really cool. Once we drove into the park, we stopped to splash around in Center Lake. Center Lake has a great beach and beautiful water. Definitely pack the swimsuits!

After the beach, we hit the Wildlife Loop Road in search of bison in Custer SP (finding bison was my number one request for vacation.) We found them almost immediately. They were incredible!

We had such a fantastic vacation to the Black Hills. Keep reading for meal ideas and suggestions for where to stay with your RV.

RV-Friendly Meal Ideas

Foods You Might Want to Have on Hand

Sandwiches, fruit cups, cheese sticks, fresh vegetables, crackers, and any foods that can be thrown together for a quick, healthy lunch or dinner are always great to pack in the RV.

Foods to Prepare for the RV Before You Leave

There is only so much space for food storage in an RV, so options can feel limited! Check out these great make-ahead options as you plan your meals for the trip:

Where to Stay with Your RV

If you’re heading in to South Dakota from the east, check out the first two options as you travel. Rapid City RV Park was a great “home base” for us while we spent time in the Black Hills.