Kettle Moraine, Devils Lake & Peninsula State Park

Hike the southern Ice Age National Scenic Trail through Wisconsin's glacial classic — kettle ponds, eskers, kames, and steep moraine ridges left by the retreating Laurentide ice sheet. The Emma Carlin trailhead connects 20 miles of loops through oak savanna and wetland corridors.

Pick up trail sandwiches, apple pie baked in a paper bag, and fresh-pressed cider at this beloved Mukwonago market before the afternoon drive to Baraboo.

Climb the 45-foot wooden observation tower atop Waukesha County's highest point (1,233 feet) for panoramic moraine views, then take the short forest loop through oak-hickory before the drive northwest to Baraboo.

Dinner in downtown Baraboo at this scratch-cooking neighborhood spot known for creative comfort food and a warm, approachable atmosphere — a good fuel stop before Devils Lake in the morning.

Stay in Baraboo's historic downtown — a preserved Victorian house minutes from the Devils Lake trailheads, with comfortable rooms and a full breakfast before the big climb.

Hike the East Bluff Trail to the top of the 500-foot quartzite bluffs that ring Devils Lake — a glacially dammed kettle lake surrounded by some of the oldest exposed rock in the Midwest. The trail climbs steadily through talus fields and boulder chaos before breaking onto open bluff tops with sweeping views across the 360-acre lake and the terminal moraine beyond. The East Bluff loop (5 miles) connects Balanced Rock and the Devils Doorway arch before descending to the shore.

Grab a quick lunch at the park's south shore concession stand — bratwurst, hot dogs, and cold drinks right on the lake beach, letting you stay in the park for the afternoon west bluff hike.

Use the afternoon to explore a different trail, cool off at a swimming hole, or find a scenic spot to watch the sunset.

Arrive at Fish Creek for Door County's fish boil tradition — Lake Michigan whitefish, potatoes, and onions cooked in an outdoor cauldron over open flame, served with melted butter and Door County cherry pie.

Sleep at this 1896 inn on Fish Creek's main street, with rooms five minutes from the Peninsula State Park entrance for an early trail start.

Hike the Eagle Trail along 100-foot limestone bluffs above Green Bay, ending at Eagle Tower where a 75-foot observation platform surveys the entire peninsula and the bay. The 2-mile trail skirts cliff edges with views across Eagle Harbor and Horseshoe Island.

Pick up cherry preserves, smoked whitefish, and Door County cherry wine for a picnic lunch on the Nicolet Bay beach inside Peninsula State Park.

Walk the limestone shoreline where Lake Michigan surges into sea caves hollowed beneath the bluff — a short clifftop trail connects multiple cave openings above the churning lake, with afternoon light turning the water an improbable turquoise.