Leave Elkhart Lake early and just commit to the long haul: today is mostly I-90 / I-35 time, with a straightforward westbound push across Wisconsin and Minnesota into South Dakota. For a family of 6, the sweet spot is getting on the road by around 6:00–7:00 AM so you can beat the worst of the morning traffic, keep the kids happier, and arrive in Sioux Falls without feeling like the day ate you alive. Expect roughly 11–12.5 hours of total driving time with breaks, and use the long interstate stretches to your advantage—this is the kind of day where one good plan and a few snacks save everyone.
Break up the drive with Culver’s in the La Crosse area, which is exactly the kind of no-stress stop that works for a road trip with kids. You’ll usually get quick service, familiar burgers and butterburgers, chicken baskets, custard, and enough variety that nobody has a meltdown over lunch. Budget about $10–15 per person, and figure on about 45 minutes door to door if you order at the counter and keep it moving. It’s an easy in-and-out stop right off your route, so you don’t lose the whole afternoon just chasing food.
Once you’re rolling west again, aim to arrive in Sioux Falls in time for an easy reset before dinner. If everyone’s getting stiff, head straight to Falls Park first—this is the best low-effort leg-stretcher in town, especially late in the day when the light is softer and the crowds thin out a bit. Parking is generally easy, and you can wander the overlooks, watch the water, and let the kids burn off their “we’ve been in the car forever” energy. Give it about 45–60 minutes, then move on to your hotel for check-in and a swim break; downtown and east-side properties both work well here, and this is the point in the day where a pool becomes less of a perk and more of a survival tool.
For dinner, Sickies Garage Burgers & Brews is a solid family pick with plenty of menu options, generous portions, and a casual feel that’s good for road-trip exhaustion. Expect around $15–25 per person, depending on appetizers and drinks, and about an hour for dinner if you’re seated right away. After that, keep the rest of the night light—get back to the downtown Sioux Falls hotel check-in / swim break mode, do a quick laundry shuffle if needed, and call it early. Tomorrow is when the Badlands start to matter, so tonight is really about getting everyone rested, fed, and ready to go again.
Start with Wall Drug in Wall, which is the classic “we made it” stop for coffee, breakfast sandwiches, and a quick reset after the drive in. It’s touristy, sure, but for a family of 6 it works exactly because it has bathrooms, easy parking, and enough room to let everyone stretch their legs. Plan on about 1 to 1.5 hours here; breakfast prices are usually pretty reasonable, and it’s also a good place to grab water, sunscreen, and a few road-trip snacks before heading into the park.
From there, continue to the Ben Reifel Visitor Center to get your bearings before you start the scenic drive. This is the place to pick up a map, check conditions, and ask a ranger about recent wildlife sightings or trail status; in July, they’ll also steer you away from anything that’s too hot or too exposed. Give yourselves about 45 minutes. Parking is straightforward, but it does fill up later in the morning, so arriving earlier makes the rest of the day much smoother.
Once you’re on Badlands Loop Road, take it slow and treat it like a series of short stops rather than one continuous drive. The pullouts are the whole point here: the light changes fast, the views keep unfolding, and the kids usually do better when the car time is broken up often. In midsummer, the best window is definitely the morning into early afternoon before the heat really settles in. Expect to spend 2 to 3 hours working your way through the main overlooks, with enough time for photos, wandering around a few viewpoints, and just taking in how strange and beautiful the formations are.
Make Door Trail one of your main short walks. It’s one of the easiest ways to actually get out into the landscape without committing to a long or strenuous hike, and it gives you that “walking inside the Badlands” feeling fast. There’s minimal shade, so bring hats and more water than you think you need, especially for July. Figure 30 to 45 minutes total, including the stroll and a little time to enjoy the view. If you’re moving in the usual park rhythm, this is a good point to slow the pace, let the kids explore a bit, and then head to your next overlook rather than trying to pack in too much.
If the crew still has energy, end the park portion with Big Badlands Overlook near the east entrance. It’s one of the easiest reward stops of the day: big views, very little walking, and especially good light if you catch it later in the afternoon or close to sunset. Plan on 20 to 30 minutes, and don’t be surprised if this ends up being one of the photos everyone remembers most. On the way back out, the road is simple, and once you’re done, it’s an easy drive back toward Wall for dinner.
For dinner, Pioneer Saloon is a solid family choice after a day in the park: casual, hearty, and reliably filling, with most meals landing around $15–25 per person. It’s the kind of place where nobody cares if the kids are dusty from the Badlands, which is exactly what you want tonight. If you’ve still got a little daylight left before or after dinner, you can do one last slow drive through town, but honestly this is the kind of day where it’s better to eat well, get everyone water, and call it a win.
Head out from Interior early enough to be on Notch Trail before the heat settles in — in July that usually means an 8:00 AM start if you want the climb to feel fun instead of punishing. The trail is short but hands-on: ladders, a few narrow spots, and that big payoff view over the spires and the White River Valley. Plan on about 1.5–2 hours with a family pace, and wear shoes with grip; this is the one spot where flip-flops are a bad idea. Parking is right off SD-240, but it fills up at peak morning hours, so arriving early really does make the day easier.
From there, keep the momentum going with a flatter, more relaxed walk on Castle Trail. Most families do an out-and-back segment rather than the full stretch, which gives you the scenery without turning the whole morning into a marathon. It’s a great contrast after Notch Trail — less climbing, more wide-open prairie and layered rock — and a good way to let everyone spread out a bit while still staying in the heart of the park. If you’re traveling with kids, this is the stretch where snacks and water matter most; there’s very little shade out there.
By late morning, swing back toward Cedar Pass Lodge Dining Room in Interior for an easy sit-down lunch with air conditioning, bathrooms, and views that remind you why you came. Expect simple park-friendly food — burgers, sandwiches, salads, and a few local staples — in the roughly $12–20 per person range. It’s not fancy, but it’s exactly the kind of practical stop that keeps a family of 6 happy and resets everyone before the next drive. If the dining room is busy, the café area usually moves faster, and you can still keep the stop to about an hour.
After lunch, head east along the park roads toward the Minuteman Missile National Historic Site near Philip. This is one of those surprisingly memorable stops that gives the day some depth beyond the scenery: the visitor center and preserved silo area add a very different chapter to the Badlands story. Plan on 1–1.5 hours here, and check the day’s ranger schedule if you want the best version of the visit. It’s an easy stop to pair with the drive because it breaks up the road time without feeling like a detour just for the sake of it.
On the way back, make one quieter scenic pause at White River Valley Overlook. After all the bigger trail time and history, this is the kind of stop where you just lean on the railing, take in the ridges and shadows, and let the day slow down a little. It only takes 20–30 minutes, but it’s worth it because the light late in the day can make the formations look almost unreal. If you’ve been moving fast, this is the breath before the final road-break.
Finish with a fun, low-effort stop at Wall Drug Café / Ice Cream counter in Wall. It’s a classic last treat for the family — coffee for the adults, cones or sundaes for the kids, and enough tourist energy to make it feel like a proper road trip ending. Budget about $5–12 per person and around 30 minutes unless everyone gets distracted by souvenirs. From here, you’re in good shape to continue the drive toward Sioux Falls or settle into the overnight leg home, with the easiest route being back onto I-90.