Fly from Richmond International Airport (RIC) to Rapid City Regional Airport (RAP); you’ll usually connect, often in Denver or another hub, so allow most of the day for the trip. After collecting your rental car at RAP, the drive into town is about 20 minutes via SD-44 and US-16. If your flight gets in late, keep the afternoon flexible—there’s no need to rush straight from the airport.
Head first to Dinosaur Park on Skyline Drive for a 45-minute leg-stretcher and broad views over Rapid City and the Black Hills. The park is free and generally open daily from early morning until late evening; the hilltop path is exposed, so bring water and a layer if it’s breezy. From the airport, allow roughly 20 minutes by car, then about 10 minutes to reach downtown.
Continue to Main Street Square and wander the surrounding historic blocks for about an hour, taking in the public art and the lively downtown streets. Then stop at Harriet & Oak for coffee and a light meal or snack—budget around $10–20 per person. It’s a popular daytime café, so check its current hours before you go; if it has closed by the time you finish downtown, make this your first stop instead, then return to the square for an easy evening stroll.
Head southwest from Rapid City to Crazy Horse Memorial near Custer; it’s about a 45-minute drive, so leave around 8:00 a.m. to make the most of the morning. Spend roughly 2½–3 hours at the Indian Museum of North America and the Native American Educational and Cultural Center, then take in the mountain carving from the viewing areas. Contact the memorial well ahead of your trip to ask whether a private guide can be arranged; availability and pricing vary. In summer, the complex generally opens in the morning and stays open into the evening, but check the current hours and admission rates before setting out. Admission is typically charged per vehicle, with prices depending on the number of people.
Drive about 25 minutes north to Carver’s Cafe at Mount Rushmore National Memorial for an easy lunch close to the monument; budget about $15–25 per person. Afterward, allow 2–3 hours for the memorial, including the Grand View Terrace and the Presidential Trail. The trail has stairs and uneven sections, so take it at your own pace; you can still enjoy excellent views from the terrace if you’d rather skip the walk. There’s no entrance fee to the memorial, but parking is paid—allow about $10 per vehicle—and summer hours are generous. Check the official site for current facility hours and any trail notices.
From Mount Rushmore, it’s about a 30-minute drive back to downtown Rapid City. Unwind over dinner at Murphy’s Pub & Grill, a casual spot for pub fare; expect roughly $20–35 per person before drinks and tip. It’s a full sightseeing day, so keep the evening relaxed and save time for the drive back to your lodging.
Leave Rapid City early—around 6:30 a.m.—with a full tank, water, and snacks. The direct drive west on US-16 to Cody is about 6–7 hours behind the wheel, but lunch and sightseeing make this a full-day outing. The optional Spearfish Canyon Scenic Byway is a substantial northern detour, adding roughly 1½–2 hours of driving before you even continue toward Wyoming; take it only if you’re comfortable with a later arrival. The canyon is best enjoyed with a few short pull-offs rather than trying to stop at every viewpoint.
Continue west on US-16 through Ten Sleep Canyon, where the road threads between steep, rugged walls. Allow 30–45 minutes for a few safe stops and photos, then carry on to Worland for lunch. The Breadboard is a handy local café option; budget around $15–25 per person and check the day’s hours before setting out. Fuel and food choices thin out between towns, so don’t count on finding services whenever you need them. Check WYDOT road conditions that morning, especially if weather or roadwork could affect the mountain route.
After the final drive into Cody, settle in and head to The Irma Hotel downtown for dinner. The historic hotel’s dining room is a fitting first taste of Cody’s Western character; expect about $25–45 per person, and confirm dinner hours or make a reservation during busy summer season. With the Spearfish Canyon detour, arrival may be late, so call ahead if your timing is tight.
Keep today centered on Cody and start at the Buffalo Bill Center of the West. Its museums cover several sides of Western history, so give yourself a few unhurried hours rather than trying to rush through. Budget roughly $25–35 per adult for admission and check current ticket details before you go.
Drive west to Old Trail Town for an outdoor look at historic buildings and artifacts from the region. It’s a seasonal attraction, so confirm it’s open on your date; allow about 1.5 hours, then head back toward downtown for a break or a little browsing. The museum and Trail Town make a good pairing: one offers curated collections, the other a more walk-through setting.
Have dinner at Proud Cut Saloon downtown; plan on around $20–40 per person before drinks and tip. Then drive north to the Cody Nite Rodeo. June is rodeo season, but check the date’s schedule and ticket availability ahead of time; allow about two hours for the event and return to your Cody hotel afterward.
Keep the Cody-to-park travel time in mind and don’t plan an early start here: allow a generous window for the drive and entrance formalities, then make Mud Volcano your first stop if you arrive with daylight to spare. Its boardwalk passes unusual steaming and bubbling features; stay on the path, as the ground and water are dangerously hot.
Continue north through Hayden Valley, taking your time at safe pullouts rather than stopping in the roadway. Wildlife sightings are never guaranteed, and traffic can slow considerably when animals are near the road. If you have time, stop at the Fishing Bridge Visitor Center to check for current conditions and get a feel for the Yellowstone Lake area. If the journey runs late, skip a stop rather than rushing.
Have dinner at the Lake Yellowstone Hotel Dining Room, budgeting roughly $30–60 per person before drinks and tip. Restaurant hours and availability can vary, so confirm them close to your travel date and keep snacks handy in case your arrival is delayed. Fuel and food options are limited inside the park compared with gateway towns.
Check in at Lake Yellowstone Hotel for tonight and tomorrow night, giving yourself a full day in Yellowstone before continuing toward Grand Teton. Park lodging is popular and should be reserved well ahead; confirm the reservation’s dates and check-in details before setting out.
After arriving from Yellowstone National Park, park at Lake Lodge parking area and meet your pre-booked guide for an all-day tour. Confirm in advance that the operator can collect you there, where to leave your car, and what the tour includes. A full-day guided tour is a practical way to cover Yellowstone’s distances without moving your own car between stops; wildlife, traffic and road work can affect the schedule.
Ask your guide to include Pelican Creek Nature Trail and LeHardy Rapids if conditions and the route allow. These are short stops, so you can take your time on the paths and boardwalks rather than rushing from viewpoint to viewpoint. Stay on marked routes, and give wildlife plenty of space.
Take a lunch break at Lake Lodge Cafeteria, with casual meals generally around $15–30 per person. June is a busy time in the park, so allow some flexibility for queues and check current services before you set out. If your tour’s route or timing doesn’t bring you back to Lake Village, ask the guide about lunch arrangements when you book.
If weather and trail conditions cooperate, wrap up at Storm Point Trail, a pleasant loop through forest and along the lake shore. The walk is more enjoyable without a tight deadline, so leave room to pause and take in the views. Return to your parked car at Lake Village with your guide, and check the latest park conditions before driving on.
This is a good final morning of your two-night Yellowstone stay: keep the schedule flexible and head to West Thumb Geyser Basin early, when the boardwalks are quieter. Allow about an hour for the loop, and stay on the boardwalks throughout—thin ground can be dangerously hot.
Continue to Old Faithful for a relaxed look around the Upper Geyser Basin. Eruption predictions are posted at the visitor area, but they’re estimates, so don’t build the whole morning around catching one. If you’d like lunch before leaving the park, the Old Faithful Inn Dining Room is a convenient choice; expect roughly $20–40 per person, and check current service availability before setting out.
Leave enough of the day for the separately planned drive from Yellowstone to Jackson: it can take several hours, and park traffic, wildlife, and roadworks can add delays. Lewis Falls is a worthwhile quick stop along the South Entrance Road if time and parking allow. Keep snacks and water handy, and avoid trying to squeeze in another long walk before you arrive.
You’ll have had two nights based in or near Yellowstone, with this morning for one last taste of the park before moving on. Lodging availability inside the park is limited, so confirm your reservation and checkout details in advance.
Start early with Jackson Hole Wildlife Safaris for a guided drive through the Jackson Hole valley. The route varies with conditions and wildlife activity, so think of this as a scenic outing as well as a chance to look for animals—not a guarantee of sightings. Reserve ahead, confirm your pickup location, and bring warm layers and binoculars. Budget roughly $100–200 per person, depending on the tour and what’s included.
Head north to the National Museum of Wildlife Art after the tour. Set aside about 1.5 hours for the galleries and outdoor sculpture trail; adult admission is generally around $15–25, but check current rates before you go. The museum’s hillside setting offers a lovely view toward the National Elk Refuge.
Return to Downtown Jackson for lunch at a café; allow roughly $15–30 per person, depending on your order. Keep the stop relaxed, with time to wander around town before driving west to Barker-Ewing Scenic Float Trips in Wilson. Book your float in advance and confirm the meeting point, transport arrangements, and what to wear. Allow about three hours for check-in, the trip, and logistics, and keep a little flexibility in case river conditions affect the schedule.
Head to Heart Six Ranch near Moran for your reserved half-day ride. From Jackson, allow roughly 45–60 minutes each way by car, and confirm the exact meeting point and check-in time directly with the ranch. Book ahead and check ride length, age or weight requirements, and what to wear; long pants, closed-toe shoes, sunscreen, and water are sensible. The ride and drive make for a full morning, so leave Jackson with a little buffer.
Return to Jackson for lunch at Café Genevieve. Budget about $15–30 per person; summer waits can happen, so keep lunch flexible and don’t plan a tight connection.
Then join Jackson Hole Food Tours for a guided walking tour and tastings around town. Reserve in advance and check the meeting point, route, and current tour schedule when booking. Expect roughly $100–150 per person, depending on the tour; with several tastings, you may want only a light lunch. Wear comfortable walking shoes and leave time to get from lunch to the tour’s start.
End at Snake River Brewing, a relaxed spot for dinner and local beer. Plan on about $25–45 per person before drinks, and allow extra time if it’s busy. If the horseback ride runs long, contact the food-tour operator promptly rather than rushing; the ranch drive back can take close to an hour.
Pick up breakfast and coffee at Persephone Bakery—a popular spot, so expect a possible short queue even in the morning. Budget about $10–20 per person. Then head to Jackson Town Square for a relaxed half-hour stroll beneath its famous elk-antler arches; it’s an easy last look at downtown before leaving.
Drive to Jackson Hole Airport (JAC) and return your rental car, allowing extra time to refuel if your rental agreement requires it and to follow the airport signs for the return lot. Aim to reach the airport about two hours before departure, or earlier if your airline recommends it. Check your flight and car-return instructions before leaving town; flights to Richmond usually involve a connection, so allow time for the transfer and keep essentials in your carry-on.
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