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Plan now to see our nation's treasures

"Warning," cautions the diamond-shaped yellow sign, "Bear crossing." I can see the excitement in my 6-year-old daughter's eyes as we continue our hike. We're in Wyoming, in a state of wonder.

Being scenery-starved Midwesterners, we love answering the call of the wild on our vacations. Want to take a walk on the wild side yourself? Next year marks the centennial of the U.S. National Park Service, a great opportunity to introduce your kids to the natural wonders of the U.S. Here are a few must-see national parks that should be on every family's bucket list.

Rocky Mountain highs

Who doesn't want their children to experience the Rockies?! Camping is one affordable option, but another budget-friendly approach is the YMCA of the Rockies. When I first suggested it to my then 12- and 14-year-old boys, they thought I was on a Rocky Mountain high. Had I been listening to too much John Denver? Isn't the Y where we play basketball and take swim classes? I'm not talking about overnighting at your neighborhood Y. I'm talking about the rustic lodge and cabins that generations of families have enjoyed, just outside Rocky Mountain National Park.

I'd first heard about Y of the Rockies from my former colleague, Jay Shefsky, reporter and producer at WTTW Channel 11. He made two summer trips with his wife and daughters and still had fond memories. "There were organized hikes with knowledgeable guides and tons of kid-friendly activities," he said. "We'd hike in the morning, then my wife and I would collapse and the kids could safely play miniature golf or do arts and crafts with the Y staff."

Another lodging option is renting a condo at one of the nearby ski resorts. Winter Park is the closest major ski resort to Rocky Mountain National Park. Besides the lower rates on lodging, staying at Winter Park when it's not actually winter has other perks. "We have special events in Winter Park Ski Village virtually every weekend in the summer," says Steve Hurlbert, public relations director for Winter Park Resort.

Yellowstone National Park & the Grand Tetons

Bison, geysers and bears ... oh my! I'd long wanted to take my children on this ultimate wilderness adventure. Since our three kids range in age from 6 to 16, we needed to come up with a vacation plan that had enough excitement for the teenage boys, while still being manageable for our 6-year-old daughter. We decided on a group tour with Austin Adventures, an adventure travel outfitter specializing in family trips.

All we had to do was get ourselves to Jackson Hole, Wyoming. After that, Austin Adventures took care of the meals, set up our lodging and organized our activities, including rafting the White River, planning perfect hikes for families with kids, and scenic bike rides. The guides even got a special tandem bike for my husband and daughter to ride together so she could keep up with the group. Each morning our friendly and knowledgeable guides would have the vans loaded with gear, snacks and water for another day of adventure. This is a family trip where even Mom and Dad will feel like they're on vacation.

We stayed at the iconic Old Faithful Inn in a room looking out at the famous geyser.

Until visiting, I always thought there was just the one geyser, Old Faithful. Not so. Yellowstone is filled with geysers, some erupting right on schedule, like Old Faithful, and some shooting off a surprise when you least expect it.

They're a curious geothermal anomaly that excited our teens as much as our 6-year-old. Not an easy task!

Be aware that summer reservations for Old Faithful Inn and Yellowstone campsites book up a year in advance.

Any trip to Yellowstone should be combined with a few days at Grand Teton National Park. They're only 10 miles apart! We stayed at historic Jenny Lake Lodge and spent time relaxing in the grand lobby with its breathtaking floor-to-ceiling windows overlooking the Tetons.

Then we explored the area via horseback from Lost Creek Ranch, a dude ranch less than a half-hour from Jackson Hole Airport. Located at the foot of the Grand Tetons, Lost Creek Ranch is surrounded by jaw-dropping scenery.

Combine daily rides with a pool and nightly entertainment and everyone in the family's happy. Ranch activities included family-friendly dance parties, stargazing with astronomers, visits from local artists, a cowboy cookout and a trip to the Jackson Hole Rodeo.

Grand Canyon National Park

Looking to get yourself, and your kids, unplugged from the cellphones and computers that occupy most of our daily lives? Well, sign off from your Facebook feed and get ready for some digital detox as you descend into the ultimate natural wonder, the Grand Canyon.

The best way to see the Grand Canyon is by raft. There are dozens of Grand Canyon outfitters to choose from, but two of the most respected are O.A.R.S. and Western River Expeditions. O.A.R.S. has been offering family rafting trips since 1969.

The minimum age for weeklong Grand Canyon trips is generally 12, but kids as young as young as 7 can come on shorter trips of three to five days.

Described by many as a life-changing experience, you get to hike Native American ruins, roar through rapids and camp on sandy beaches, all while being surrounded by towering cliffs.

Although our country's iconic national parks are affordable any time of year, each year includes many free admission days. Still to come in 2015: Aug. 25 (the National Park Service's birthday), Sept. 26 (National Public Lands Day) and Nov. 11 (Veterans Day).

• Visit TravelingMom.com to download your free copy of "101 Family Travel Tips."

Rafting is a great way to see national parks such as the Grand Canyon National Park, and, pictured here, Wyoming's White River. courtesy of Austin Adventures
You never know what you might encounter when visiting a national park. courtesy of Andrea Guthmann
Bison can be seen grazing at Yellowstone National Park. courtesy of Andrea Guthmann
Hiking Yellowstone National Park was easy with Austin Adventures making sure everything was planned. courtesy of Andrea Guthmann
YMCA of the Rockies is a good lodging option for families to consider when exploring the Rockies. Courtesy of YMCA of the Rockies
YMCA of the Rockies is a good lodging option for families to consider when exploring the Rockies. Courtesy of YMCA of the Rockies
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