From Saint Paul, follow US 61 South all the way to Red Wing, MN. Stop in Red Wing for a nice breather in a cool town.
From here, cross over to the Wisconsin side of the river and follow US 35 South to pass through some neat river towns like Stockholm and Pepin.
Head South along the river, and cross back over the MN side at Nelson, WI to go to Wabasha, MN.
Further South, is Kellogg, MN which has a highly recommended toy store named Lark Toy Store. It also has mini golf, carousel, trip down memory lane of old school toys, café, and unique and large selection of toys. Head to your campsite by Winona at Great River Bluffs State Park.
Next head further south to La Crosse, WI and check out the historic town. There is a beautiful view from Grandad Bluff that’s worth the trip. They also have a children’s museum if the kids need to burn off some energy.
Travel back up to I-90 and make your trek to Wisconsin Dells. Set up camp at Rocky Arbor State Park and then go enjoy a day or two at the water parks nearby – Noah’s Ark is a popular one. 15-minutes south of the Dells, in Baraboo, is Circus World – a unique little side trip you might enjoy.
About an hour south of the Dells, you will find a great city called Madison, WI. They have a really beautiful botanical garden you should check out called Olbrich Botanical Gardens.
Head back west on US 18 back towards MN. Stop halfway in Prarie Du Chein, an old city with lots of history. Experience a tour at a 19th Century Victorian Mansion called Villa Louis. Or learn about some military and medical history at the Fort Crawford Museum. Enjoy a hamburger or two from Pete’s Hamburger Stand. Serving up their unique style since 1908. Also check out Stark’s Sport Shop – an icon to the area featuring taxidermy, hunting, fishing, and liquor – all in one store.
From there, venture Northwest to Harmony, MN. Take a neat cave tour at Niagara Cave and afterwards play a round of mini-golf or let the kids have some fun on the playground there.
About an hour North is your next campsite, Whitewater State Park. The campground has some great hiking where you can see beautiful views of the bluffs along the Whitewater River. You can take an interesting side trip to a cute town called Lanesboro, MN on your way to Whitewater State Park
When you are ready to travel back to the Twin Cities, head north on HWY 52. Stop in Cannon Falls to rent a canoe and have an adventure on the Cannon River.