Ultimate One-Day Yosemite National Park Guide – RV Camping, Best Hikes, Views & the Rare Firefalls! [with Video!]
- Victoria
- Mar 19
- 6 min read
Welcome to Yosemite: A One-Day Adventure
Yosemite National Park is easily one of the most breathtaking places in the country, and after visiting 16 other national parks, we finally made it here for number 17! With just one day to explore, we packed in as much as possible—scenic hikes, iconic viewpoints, and a once-a-year natural event that we were lucky enough to witness. If you're short on time but want to see the best of Yosemite, this guide has you covered.
Beyond its jaw-dropping landscapes, Yosemite is also packed with fascinating history. Did you know that Yosemite was the inspiration behind the very idea of national parks? In 1864, President Abraham Lincoln signed the Yosemite Grant, setting aside land for preservation for the first time in U.S. history—paving the way for the creation of the National Park System. The park is also home to some of the tallest waterfalls in North America, giant sequoias that have been standing for thousands of years, and legendary rock formations that challenge even the most skilled climbers. Whether you're here for adventure or just to soak in the views, Yosemite is a place that never disappoints.
Getting to Yosemite & the Best RV Route
Our drive into the park was about 85 miles, and after some research, we found that Highway 140 was the best RV-friendly route from the west. No terrifying switchbacks, no low-clearance bridges—just a smooth(ish) ride into the park.
It made for a very pretty drive, as we passed through some cute mountain towns that we’d love to visit again, and drove along the Merced River into the canyon. I would suggest being careful taking other routes into the park if you are towing. Even if you aren't, some of the passes (like Tioga Pass) become impassable and close during the winter.
Where to Stay – RV Parks & Camping in Yosemite
Camping Inside the Park
Yosemite offers camping inside the park, but spots fill up months in advance, especially for RVs. There are limited sites that accommodate longer rigs, so if you plan to stay in the park, book as early as possible.
Indian Flat RV Park – Our Stay
Since we didn’t manage to snag an in-park campsite, we opted to stay at Indian Flat RV Park, conveniently located just 10 minutes from Yosemite’s west entrance. Check-in was smooth and hassle-free, and the office stocks a few essentials like firewood and snacks for campers. The park offers RV sites, tent sites, and unique soft-sided cabin structures, making it a great basecamp for exploring the park.
One of the best perks of staying here? Guests also get access to the amenities at the neighboring lodge, which include a hot tub, pool, rec room, restaurant, and bar—a welcomed bonus after a long day of adventuring in Yosemite!
First Look at Yosemite – Driving Into the Park & Park Information
The moment you drive into Yosemite, it’s impossible not to be in awe. Towering granite cliffs, cascading waterfalls, and wide-open meadows surround you at every turn, making every mile feel like a scene from a postcard.
Our first stop was the Yosemite Visitor Center, the perfect place to get oriented. We grabbed a trail map, checked on current park conditions, and got a quick rundown of Yosemite’s history. If it’s your first visit, this should be your first stop. Plus, if you’re collecting National Park Passport stamps like we are, this is the place to get it! It’s one of our favorite ways to track all the parks we’ve visited, and it conveniently lives in our glove compartment.
Entrance Info:
$35 per vehicle for a one-time entry.
Or, better yet, grab the America the Beautiful Pass for $80, which gets you into all U.S. national parks. You can buy one at the entrance, or online here. I would suggest buying it at the entrance since the pass is good for one year from purchase.
Open year-round, but expect heavy crowds in summer—winter is a quieter, magical time to visit.
Reservations may be required for peak months and events. Check rhe park website before your visit here.
Free shuttle service is available during peak months and is highly recommended to navigate the park more easily. Bonus: It even stops right in front of Indian Flat Campground!
Best Bang-for-Your-Buck Hike: Sentinel & Cook’s Meadow Loop
With limited time, we wanted a short but rewarding hike, so we combined Sentinel Meadow and Cook’s Meadow Loop into one easy, scenic trail that showcases some of Yosemite Valley’s most iconic views.
Distance: 2.25 miles (loop)
Difficulty: Easy, mostly flat
Highlights: Yosemite Falls, Half Dome, and breathtaking open meadows
One of the biggest draws of this trail is Yosemite Falls, the tallest waterfall in North America at 2,425 feet. Along the way, you’ll also get stunning views of Half Dome from Swinging Bridge and Sentinel Bridge—two of the best spots for that perfect Yosemite photo.
Sentinel Bridge, 2. Swinging Bridge, 3. Lower Yosemite Falls
The boardwalk through Cook’s Meadow was another standout—especially in spring when wildflowers are in full bloom. The mix of wide-open space, towering granite cliffs, and flowing waterfalls made this hike one of our favorites.
It’s flat, easy, and accessible, making it a great choice for all skill levels. Plus, with endless photo ops, it’s an absolute must for first-time visitors.
Iconic Roadside Stops & Viewpoints
One of the best things about Yosemite? You don’t have to hike for epic views. The park is filled with incredible roadside stops that showcase its stunning scenery without requiring a long trek.
Sentinel Beach
Nestled along the Merced River, Sentinel Beach is a peaceful escape from the busier areas of Yosemite Valley. It’s a great place to relax, have a picnic, or simply take in the scenery. The calm river water reflects the surrounding cliffs, making for a picture-perfect moment, especially in the early morning or late afternoon. During the summer, this spot is also popular for wading and cooling off after a long day of exploring.
Valley View
A must-see roadside stop, Valley View offers one of the most quintessential Yosemite scenes—El Capitan towering over the valley, the Merced River winding through the foreground, and towering pines framing the view. The reflections on the water make for a photographer’s dream, and depending on the season, you might see mist rising in the morning or golden light bathing the cliffs at sunset. It’s a quick stop, but one that fully captures the magic of Yosemite.
El Capitan Meadow
Standing in El Capitan Meadow, you can truly appreciate just how massive El Capitan is—a sheer 3,000-foot granite face that has challenged climbers for decades. If you’re lucky, you may spot tiny specks on the rock that are actually climbers making their way up one of the world’s most famous climbing routes. The meadow itself is a peaceful, wide-open expanse perfect for taking in the views, watching wildlife, or, if the mood strikes, frolicking dramatically through the tall grass.
Tunnel View
Possibly the most famous viewpoint in Yosemite, Tunnel View offers a breathtaking panoramic vista of Yosemite Valley. From this iconic spot, you’ll see El Capitan, Half Dome, and Bridalveil Fall all in one frame—a view that has inspired countless photographers, painters, and adventurers. Arrive at sunrise for a peaceful, golden glow over the valley, or catch sunset when the cliffs light up in stunning shades of orange and pink. Pictures don’t do it justice—you have to experience it in person to fully grasp its grandeur.
The Highlight of the Trip: Yosemite’s Firefall Event
We lucked out with our timing—our visit coincided with Yosemite’s once-a-year phenomenon—Firefall!
What is Firefall?
Every February, for just a few days, the setting sun hits Horsetail Fall at the perfect angle, making it glow like molten lava. But the conditions have to be just right—clear skies and a steady flow of water from melting snow or recent rain.
We joined thousands of people from all over the world, all hoping to witness this rare event. The atmosphere was electric—cameras lined up, people holding their breath as the sun dipped lower. After a 1.5-mile hike to the designated viewing area, we found our spot and waited.
And then—it happened. The waterfall ignited in a fiery orange glow, looking more like a stream of lava than water. The effect lasted only a few minutes, but it was pure magic. Despite the crowds and the chilly evening air, it was hands down one of the most surreal and unforgettable experiences we’ve ever had in a national park.
Wrap-Up & More National Park Adventures
Our time in Yosemite was short, but we packed in some of the best views, hikes, and experiences the park has to offer.
🎥 Watch our full Yosemite adventure below!
🌲 We’ve now visited 17 national parks! Check out our National Park Playlist on YouTube for full-length video guides on all of them.
💬 What’s your favorite national park, or which one is at the top of your bucket list? Drop a comment—we’d love to hear from you!
📲 Follow us on Instagram, Facebook, and TikTok (@ProjectRVLivingLost) for behind-the-scenes travel updates.
👍 Next blog post, we will be sharing our adventures at Pinnacles National Park!
See you next time! 🚐✨
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