According to Yahoo Maps from Denver to Rapid City, South Dakota it takes approximately 6 hours and 25 minutes (approx. 399 miles). Not bad. We love living in Colorado so that we can take–road trips! We drove through Nebraska and Wyoming to get to Rapid City. South Dakota is beautiful country. The pictures below are of the following places: Bear Country U.S.A (http://www.bearcountryusa.com/), Badlands National Park (http://www.nps.gov/badl/index.htm), and Mount Rushmore (http://www.nps.gov/moru/index.htm).