This small blufftop park just north of Genoa (Wisconsin) has great views of the river, plus places to picnic and a couple of short hiking trails. Get there soon, though; the state only keeps the road open from Memorial Day to Labor Day. Access the park from Spring Coulee Road off Wisconsin Highway 35.
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For more about Genoa (Wisconsin), consider purchasing a Driftless Area guide book, available in print form or as a PDF download.