There are a multi-use trails. We rode the #5 trail which was a good ride. Some tough climbs and fast double track downhills. We only had time to run once. I would suggest heading down for a weekend for some camping and exploring to see what the park has to offer.
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Follow I-29 south to Hwy. 136 (Rockport MO exit). Follow west across Missouri River and through Brownesville NE. Turn Left onto Hwy. 67 about 8 miles south to Indian Caves State Park sign. Follow S64E to the Park. Check with the ranger as to which trails are open to cycling. Maps available at ranger's office.