For our family camping trip this year, we drove to the Mojave Desert. We started our trip with 3 days in Mojave National Preserve where we camped, hiked a trail of rock wall hand-holds, went up (and down) the dunes and saw lots of Joshua trees.
After that we continued on to the North Rim of the Grand Canyon where we again camped, hiked and rode mules. An adventurous contingent of our family braved the famous "Rim to Rim" hike starting at the North Rim, descending 6000 feet into the canyon, then another 7+ miles across the canyon to Phantom Ranch. The next morning they hiked the grueling Bright Angel Trail with 9 miles of nothing but up, to reach the South Rim.