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Regarding Rapid City SD. Take a look at Custer State Park. The campsites are electric only but every campground has a shower house to hook up your hose to fill your fresh water tank before backing into yourcamp site and there is a free dump station in the park. Otherwise check out Rafter J in Hill City.

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How close in to the city are you looking? Are you visiting the cities or the attractions around the cities? In both cases there are parks that are simply a place to stay and others that would be a part of your visiting experience. I very much agree that if possible, one who is planning to see the Black Hills of SD should stay in Custer State Park if you can get a reservation. The park is very busy in summer season so you do need reservations in order to be sure. Rapid City is at the fringe of the Black Hills and isn't the most centrally located for seeing them. I would tend to suggest staying more in the area of Custer or Hill City to see the sites.

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