The Black Hills of South Dakota are such a great vacation destination for a family. The Corn Palace is maybe a bit "corny" but our kids loved it and we adults actually found it quite interesting.

Where to stay depends on what type of accomodations you prefer. Our family has really enjoyed staying at KOA Kamping Kabins. It's like camping but without having to sleep on the ground and if it rains you don't have to worry about getting wet in a tent. And they're cheaper than a hotel.

Custer State Park is a FABULOUS state park and some of the campgrounds have cabins. But you need to check on them early as they fill up quickly once reservations are open each year.

When are you going? August 3-9 is the annual Sturgis motorcycle rally. During that time, all lodging and campgrounds are booked AND there is a constant rumble in the air.

Be sure to take a drive through Custer State Park. That is where you will definitely see bison (they are not technically buffalo) and other wildlife. It is particularly beautiful in the late afternoon and early evening. Also, drive through the Needles area of the park.

Mount Rushmore is awesome. We enjoyed Wind Cave but have not been to Jewel Cave.

No matter what you choose to do and no matter how much time you spend, you will never have enough time to explore it all. It is a wonderful destination to go back to time and again like we have. Just writing about it makes me want to go back right now!

ENJOY!

http://www.sdgfp.info/Parks/index.htm

You could include the Badlands drive either on your way to or coming from the Black Hills.

For wildlife, the Wildlife Loop in Custer State Park, though the animals are free to roam and may be found in any part of the park.

Devil's Tower in WY can be combined with a drive through Spearfish Canyon, or Deadwood. It will take most of a day.

Mount Rushmore, I like the evening lighting ceremony, if you arrive 7-7:30 you'll have time to hike the walk at the base of the mountain and see the Sculptor's Studio. Take a blanket, our nights have been cool.

Reptile Gardens on hwy 16 is also interesting for children.

What are the ages of your children? If young, they would probably enjoy Storybook Island in Rapid City and Flintstone Village in Custer.
For hiking, I recommend the 6 mile RT hike up to the top of Harney Peak. The trailhead is at Sylvan Lake, which is a beautiful lake. (You can rent paddleboats and rowboats there which would be fun. See: http://www.custerresorts.com/sylvan-lake-lodge-custer-state-park-resort/things-to-do.php) At the top of the peak is the old stone fire lookout, which is the highest point in South Dakota. The hike is rated "moderate" but I do not find it particularly hard--my 80-year-old grandmother and my 7-year-old daughter both did it. See the following for info on lots of trails: http://www.sdgfp.info/Parks/Regions/Custer/csptrails.htm
At Blue Bell Lodge in Custer State Park, you can do a hayride/chuck wagon cookout and/or a trail ride. See http://www.custerresorts.com/blue-bell-lodge-custer-state-park-resort/things-to-do.php
Be sure to do the Wildlife Loop in Custer State Park. There is a prairie dog village there that should be interesting for your kids.

Our family (ages 18-75) had a fabulous vacation in the area! If your kids love animals, do the Custer wildlife loop early in your trip so you can repeat it--we did it several times and saw different animals every time! Also loved the wild horse sanctuary (sorry- I forget the official name)

Thanks!! We are planning for early summer next year. Our kids will be 11, 8 and 7.

How much time do you need for Custer State Park? Is this a drive type thing or is there some hiking?

We also are thinking of Mammoth Site?

On the way to Sioux Falls, you can stop at the Jolly Green Giant at Blue Earth!

The Custer wildlife loop is a drive and will take as long as you have to give it. 2-3 hours would be an estimate. But it is really worth doing.

I also recommend visiting the Wild Horse sanctuary. It is an awesome place if your kids like horses. It isn't far from the Mammoth Site. We visited the Mammoth Site, spent that night in the town (Hot Springs, I think) and went to the sanctuary the next morning.

Don' know where in Michigan you're coming from--we're in Western MI---but last year we went to Yellowstone, out I-80, back on I-90. 90 was horrible thru Minnestota---thump,thump, thump---for hundreds of miles. I recommend out 80 thru Iowa to I-29, then north to 90 thru SD.

The evening ceremony at Rushmore is preferable if that will work into your schedule. Wall Drug(in Wall SD)on I80 as you get to the Badlands is an interesting stop. Tourist trap for sure but, one of a kind, Buffalo Burgers and all.

Does anyone know the least stressful nighttime route from Mt Rushmore to Legion Lake Lodge? We want to go to the evening ceremony but we aren't sure about driving in the dark. Google maps makes everything look flat and straight

leaving soon - topping.

I second a lot of the suggestions above. We just got back from Yellowstone and did many of these things too (we're from Indiana). We, too, took the I80 thru Iowa and then north to SD, but haven't taken the Minnesota route.
Custer State Park - a must see. Buffalo - many in herds - ask the ranger at the gate. "Wild" burros - they'll come up to the car expecting a treat. You might want to keep some carrots in the car. 2-3 hours would be my guess, but like the other said, you could spend longer or spend the night. We've done that and we've also stayed in the town of Custer.
As long as you're driving that far -
The Corn Palace
Wall Drug - wouldn't do it again
Badlands - it was 100 degress but glad that we went
Devils Tower - further than Mt. Rushmore but should be considered if you have time.
My general impression of the mr. Rushmore area the last time we were there was that you could easily spend a week there.
Have a great time. We packed a cooler for the drive and picnicked on the interstates.