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Upon arrival, make your way to your hotel which is located in the heart of the city. The rest of the evening is yours to enjoy.

Collect your hire car and drive along the western shore of Lake Michigan to the city of Milwaukee. There is time this afternoon to explore this lakefront city and enjoy its resurgent shops, restaurants and nightlife.

Spend a day exploring Milwaukee including the Pabst Theater, the Milwaukee Art Museum and the Greek Orthodox Church, designed by Frank Lloyd Wright. The highlight for many, though, is the Harley-Davidson museum which celebrates over 100 years of these iconic motorcycles.

Leaving Milwaukee, drive along the Door Peninsula to the little town of Ephraim. This scenic peninsula has 482 km (300 miles) of shoreline, 11 lighthouses, and is known for its cherry and apple orchards. Five state parks provide opportunities for walking, cycling, swimming, and fishing.

From Ephraim, drive along Highway 41, a scenic road that hugs Green Bay and passes through the Escanaba River State Forest and Hiawatha National Forest to Marquette, a town well-loved for its outdoor activities.

Michigan's Upper Peninsula is lightly populated and full of picturesque forests, lakes and mountains. Its many state parks are a haven for wildlife including black bears, wolves, and birdlife. Moose, in particular, thrive in large numbers here. There is also a wide variety of outdoor activities to enjoy including wonderful walking trails, fishing, kayaking and mountain biking. Marquette itself offers two lake-side beaches and is a diving hotspot.

Enjoy another scenic lake-edge drive today as you make your way to Mackinac Island. This coastline is dotted with small villages and pretty state parks. Park your car at Mackinaw City and then take the foot passenger ferry over to Mackinac Island. The afternoon is free to explore this car-free island.

Mackinac Island is a delightful natural retreat, with plenty of lovely walking and cycling paths affording magical sea views. Most of the island is a state park and transportation is confined to horse and carriage. Visit historic Fort Mackinac and the island's lovely limestone bluffs and emerald-green forests.

This morning, take the ferry back to the mainland and return to your car. Drive south along Lake Michigan, hugging Grand Traverse Bay as you go. Arrive at Sleeping Bear Dunes and explore for a couple of hours before retreating to your room overlooking the Crystal River and Lake Michigan.

Spend a full day exploring the amazing, and huge, sand dunes in Sleeping Bear Dunes National Lakeshore. You may wish to take the ferry to the little islands of North and South Manitou or take the Pierce Stocking Scenic Drive. Other options include a visit to Grand Traverse Lighthouse or wine tasting at some of the nearby wineries.

Drive south along the eastern shore of Lake Michigan to Saugatuck. You may wish to stop at Ludington State Park and the little town of Manistee on the way for lovely views over Lake Michigan. You might also like to stop at Saugatuck Dunes State Park.

After leaving Saugatuck, take the two-and-a-half-hour drive along the shore of Lake Michigan back to Chicago. Drop off your hire car prior to boarding your onward flight.

Arrive home today to complete your journey.