Take a hotel/motel in Rapid City for your Black Hills trip. From R.C. every attraction is easy to reach and usually you can find pretty cheap places in the city. My recommendation: Motel 6 --- what else. Good prices, good standards
Stay away from the KOA and go to what was and may still be the Horse Thief campground in the heart of the Black Hills Ntl Forest. You can hike into the forest and get a killer view of the campground and another 10 -20 mile view from some rock outcrops just outside the campground. My wife did it while pregnant, not too terribly strenuous.
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