How old are your children? If they are a older school age kids, they might be able to entertain themselves for long periods of time which will make it easier to drive long days.

I would not recommend trying to drive over 500 miles per day towing if you aren't use to going that far unless you can take turns driving. Stopping at rest areas or finding city parks to let the kids burn off some energy helps. Order free state tour guide for each state you will travel to find interesting places to stop along the way.

I would suggest trying to drive 4 days stopping at campgrounds where you don't have to disconnect and make it to Rapid City, SD and then spend 3 nights there. That will give you time to see Mt. Rushmore, Badlands and Custer State Park. Plan on taking 2 days to reach Yellowstone. You might want to stop at Devils Tower National Monument on the way there. If you want to camp in Yellowstone, make sure you make reservations. I'd spend at least 5 nights in Yellowstone and one at Grand Tetons or 4 nights in Yellowstone and two at the Grand Tetons.

From the Grand Tetons I'd suggest getting an early start and making it to Estes Park and spend a couple nights at Rocky Mt. National Park and then plan on 3 to 4 nights getting back home.

We towed a travel trailer for 10 years and have been camping/RVing for a total of 35 years so far. You don't want to have to hook and unhook every night, so finding campgrounds where you can stay connected is a good idea on the long travel days. Spending at least 2 or 3 nights in places where you have to unhook is the ideal way to work this.

Utahtea