Along the Ice Age Trail in this park, there is a campsite that must be backpacked into. The southern unit of this park has tent and RV camping. Lapham Peak has over 21 miles of hiking trails, more than 17 miles of cross country ski trails, and a lookout tower at the highest point in Waukesha County. Dogs are allowed at no additional fee. Dogs may not be left unattended, and they must be leashed and cleaned up after. Dogs are allowed on the trails, but they are not allowed in the picnic areas, or on ski trails after snow. The camping and tent areas also allow dogs. There is a dog walk area at the campground. There are no electric or water hookups at the campground.