We actually did 3 tours. Black hills monument, badlands and the Michelson bike tour.
All three tours we had the same guide, Mickey and she was awesome. Easy to visit with, energetic, and super knowledgeable. All three tours they pick you up at your place in the morning and drop you off in the afternoon.
There are a lot of things too see and most are about a 90 minute drive.
The tour knows right where to go! All fees are covered letting you get in to places quicker. Our guide also knows all the hidden gems, trails, and awesome scenery roads.
Obviously it costs money but we saw all the sights and did not have to worry about driving or parking. We would use them again if we return to rapid city.
They also provide snacks, water and lunch so all you need is a camera.