At 25 miles west of Milwaukee, this is an excellent place to escape the city and enjoy nature. Climb to the top of the observation tower at the top of Lapham Peak -- the tallest point in Waukesha County -- for sweeping views of the surrounding area. In this winter, this is an excellent place for cross-country skiing. The only camping opportunity here is at one backpack campsite in the middle of the forest.
With 25 miles of trail, hiking is the primary activity here. The park's official map does an excellent job of color coding trails with their difficulty level. Try the Kame Terrace trail for an easy hike through through restored prairie and visit the butterfly garden along the way! The Moraine Ridge Trail is the hardest hike in the park if you're up for a challenge. For a long distance trek, the Ice Age National Scenic Trail cuts through the park.