Rapid City offers a surprising variety of full-day tours that highlight its rugged natural beauty and authentic local experiences. Unlike other destinations where you’re often confined to bus routes or crowded attractions, Rapid City’s tours let you explore at your own pace, whether by bike or by private vehicle. The area’s Black Hills National Forest, Custer State Park, and scenic trails provide stunning scenery and memorable adventures. These tours are perfect for travelers who want a personalized, in-depth look at the region without sacrificing comfort or flexibility.
What makes these options stand out? One offers a full-day private bike ride along the Mickelson Trail, blending outdoor activity with local flavor. The other provides a customizable private sightseeing tour driven by a knowledgeable guide, ensuring you see the wildlife and landscapes most relevant to your interests. Both tours emphasize flexibility, quality, and authentic experiences—ideal for those who prefer tailored adventures over cookie-cutter excursions.
Quick Overview
We’ve included two of the best full-day tours in Rapid City. First, the Full-Day Private Bike Tour of Mickelson Trail and Brewery combines scenic cycling with a taste of South Dakota’s craft beer scene. Second, the Full-Day Private Sightseeing Tour in South Dakota offers a flexible, guided exploration of wildlife and scenic spots in the Black Hills. Both provide an immersive experience suited to different interests and energy levels.
1. Full-Day Private Bike Tour of Mickelson Trail and Brewery
At number one, this bike tour is perfect for active travelers who want to combine outdoor exercise with local flavors. The tour includes bike rentals, trail passes, and hotel pickup within Rapid City, making logistics simple. It’s a 6 to 7-hour adventure that covers 18 miles of the Mickelson Trail, renowned for its gentle, mostly downhill ride through the Black Hills’ lush scenery. The trail’s aspen groves and birch trees create a stunning backdrop, ideal for photography and relaxation.
One of this tour’s strengths is the option to visit the Lost Cabin Beer Garden at the Burlington Trailhead, where you can sample locally brewed beers in an outdoor setting—an excellent reward after pedaling. The tour guides are attentive, providing snacks, beverages, and helpful commentary along the way. Reviewers praise the well-maintained bikes and the accessible route, noting that the ride is suitable for most fitness levels. During the day, you’ll also enjoy a stop at a winery with five tastings and a delicious lunch, all adding to the fun.
Bottom line: This tour balances scenic beauty with a laid-back pace, perfect for those wanting to experience South Dakota’s countryside on two wheels. Best suited for active travelers who enjoy a touch of local craft beer and wine.
2. Full-Day Private Sightseeing Tour in South Dakota
For travelers who prefer to relax and leave the driving to a local expert, the private sightseeing tour offers an 8 to 10-hour exploration of the Black Hills’ highlights. The tour begins with a scenic drive into Black Hills National Forest, where wildlife sightings—like bison, mountain goats, and antelope—are common and frequently documented by travelers. It’s a flexible journey that adapts to your interests, focusing on areas such as the Wildlife Loop Road and the Bison Center.
The tour is especially appealing because the guide is experienced in spotting wildlife and sharing insights about the landscape. Visitors can expect to see prairie dogs, deer, and horses, with plenty of time for photos. The visit to the Custer State Park Wildlife Station adds an educational element, making it a great choice for families and nature lovers. The tour wraps up at Legion Lake with optional stops for lunch or relaxation.
Reviewers highlight the guide’s friendliness and knowledge, and appreciate the flexibility to spend more or less time at specific sites. This option provides an immersive experience without the fatigue of self-driving, making it excellent for travelers seeking comfort and ease.
Bottom line: This private tour is ideal for those who want a comprehensive, customizable experience with wildlife viewing and scenic drives, perfect for a relaxed yet enriching day in South Dakota.
How to Choose
When deciding between these two full-day tours, consider your interests and physical stamina. If you love outdoor activity and want to combine exercise with local brews, the bike tour offers a hands-on experience. On the other hand, if you prefer a more relaxed day that covers wildlife and scenic views without breaking a sweat, the private sightseeing tour will suit you better.
Think about your budget as well: the bike tour costs $360 per person, including bike rentals and stops, while the private sightseeing trip is $275, including wildlife viewing and custom options. Both tours are private, so booking early is wise, especially in peak seasons.
Consider your fitness level—if cycling isn’t your thing, the guided vehicle tour can deliver the same awe-inspiring scenery with less effort. For families or groups with varied interests, the flexibility of the sightseeing tour is a strong point.
Final Thoughts
Rapid City’s full-day tour options range from active biking adventures to fully guided wildlife safaris, ensuring there’s a perfect fit for different travel styles. The bike tour is excellent for those who want physical activity combined with local flavors, while the sightseeing tour is ideal for those seeking a relaxed, customizable day with wildlife viewing and scenic drives.
Both tours emphasize quality, flexibility, and authentic experiences—so book early to secure your spot. Whether you’re after a lively outdoor day or a comfortable exploration, these trips will give you a true taste of the Black Hills in South Dakota.