Flying in and out of Denver on Sat September 16 and departing on Sat. Sept 23rd.

Sat. sept, 16 arrive Denver in evening, pick up rental car-Hotel overnight near airport.
Sunday Sept17, explore Denver - Evening Drive to Colorado Springs -Overnight in
Monday, Sept 18 Pikes Peak , another activity - Overnight in Colorado Springs
Tues. Sept 19- Drive to Estes Park- scenic route
Wed Sept. 20 -RMNP overnite Estes Park
Thurs Sept 21 RMNP Overnite Estes Park
Fri Sept 22 Boulder
Sat Sept 23 Drive to Denver , return rental car and fly home

There are four of us, two kids in their mid twenties and us 60 year olds. Does this sound reasonable?
I definitely want to get some hiking in at RMNP and feel roots for a few days.

I'm running out of time so feed back is appreciated.Thanks!

It's pretty full on.

Regarding your second activity in the Springs, how about Garden of the Gods? Same side of town, easy to incorporate both.

If by 'scenic route to Estes' you mean via Highway 67 north to Deckers (which I recommend), you'd be better of visiting GOG first, then Pikes Peak, then heading up 24 to Woodland Park, spending a night there and then heading out to Estes the next day.
This way you'll avoid backtracking.

We drove the back roads to Estes in March, details here:

http://www.fodors.com/community/unit...n-highking.cfm

I think there's a way to do it by bypassing I-70 entirely too.