Perrot Wisconsin State Park. Camping, Hiking, and Paddling right along the mighty Mississippi 

Keep going its worth it. The hike and the view are worth it. Spend the night or just make this a Day trip. Perrot State Park along the Mississippi river offers Hiking, Camping for both Tents and Rv's. Bike trails cross through the park. Boat Ramp for your bigger watercraft.
And did I mention the views from up high. Take your time, enjoy the journey.