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Badlands/Yellowstone/Grand Tetons-VERY beginning planning stage

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Hopefully I can get an idea of where to start! My husband and I will be driving from WI (about 45 min north of Chicago) with our 4 boys, 14,13,5 and 5 in late June 2013 and would like to include the following; Mt. Rushmore, Badlands, Yellowstone, Cody, Grand Tetons and possibly Deadwood. We plan on doing primarily sightseeing as one of our little ones is in a wheelchair and can't go on some of the more difficult hikes/river activities.... We only have about 10 days.

We would like to be able to do/see things that will keep all the kiddos interested but we are ok with occasionally doing something that is geared towards one of their specific age groups.

I am worried I am trying to plan too much into 10 days. This is where I need help!!! We have a moderate budget, we aren't looking to break the bank but we also aren't looking for motel 6. Like I said, this is the very beginning stages so anything that is thrown out there would be appreciated!! Thanks!

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