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Kalaupapa National Historical Park is an isolated and primitive outdoor recreation area open to a small number of tourists each day throughout the year. The park has no facilities but provides some breathtaking scenery to those who come here to hike, take photographs, or appreciate the landscape and wildlife. Kalaupapa NHP is located on the island of Moloka'i and can be reached by arranging a mule trip in advance or hiking the trail, which is steep and rough in some places. The park has a community, the Kalaupapa Settlement, located near the southern park boundary; the park extends northward on a peninsula and is surrounded by ocean on three sides.
Another attraction that might interest you is a coconut grove that has been here since around 1860. Rent a car and take an auto tour of Kamehameha Highway along the south coast of Moloka'i. The highway ends at the northeastern coastline, where you'll find Halawa Beach Park. Camp in an RV near Kaunakakai and all of these attractions will be right at your doorstep.
Head inland with the Moloka'i campervan and spend some time in the rugged mountainous terrain. Molokaʻi Forest Reserve protects the water and forest reserves of the island. You can easily access the western sections, which have exotic tree plantations; it's a popular destination for hiking and picnicking, with roads and trails. The remote eastern parts are mountainous and very difficult to reach.
Papohaku Beach Park is a rustic outdoor recreation area where you can enjoy picnicking on a remote beach. The park has a dedicated picnic area with tables and grills and several campsites; you can go swimming on the beach, but there aren't any other facilities within the park except for a comfort station with change rooms, showers, and indoor sinks. The comfort station is ADA accessible.
Kiowea Beach Park is a public beach area that is situated right next to a coconut grove, making it a desirable location for picnicking. The grove was established by one of Molokai's high chiefs in the late-1800s. The beach has several freshwater springs that can be seen at low tide; the beach area is rocky with some sand and not ideal for swimming, but could be an interesting destination for snorkeling or scuba diving. RV camping at Kiowea Beach Park means you can shower and rest in comfort when your outdoor activities are done for the day.
There are some tent camping sites on Moloka'i, but none within Kalaupapa National Historical Park. RV campsites on Moloka'i are sparse; pack a tent for your Hawaii RV camping trip, though, and you can sleep under the stars in this island paradise.
Palaau State Park is minutes from Kalaupapa National Historical Park. Camping here is limited to tent sites near a grove of pine trees. The park has restrooms and features trails and scenic overlooks.
One Allii Beach Park is 15 miles from the national park and has some added amenities like restrooms and access to drinking water. On the western edge of the island, Papohaku Beach Park offers shaded tent camping sites next to a sprawling sandy beach. Restrooms and showers are on-site.
Moloka'i is the least-visited Hawaiian island, though there are still some amenities to enjoy while you're here. A handful of coffee shops and restaurants dot the small island, offering an array of cuisines, including pizza, seafood, Hawaiian, and fast-casual fare. Gas for the rental RV can be sourced on the south end of the island, and there are a couple of grocery stores, too.
Explore beyond Moloka'i by heading for Honolulu, the state capital of Hawaii, and one of the safest cities in the USA. The city has a huge variety of tour packages: you can tour the city, ocean, and surrounding countryside by bus, helicopter, catamaran, or double-decker bus, to name a few. There are numerous important landmarks such as Pearl Harbor and the USS Arizona, Diamond Head State Monument, and the battleship Missouri. As a world-class city, Honolulu's restaurant scene has it all and is where you will want to dine at least once.
On the island of Maui, Kapalua is a small community with many exciting parks and other attractions. One of its attractions is Jean-Michel Cousteau's Ambassadors of the Environment, which offers guided snorkeling trips, whale watching tours, and more. There are many beaches and parks, hiking and ridge trails, a plantation, a golf course, and several wellness spas. The city has an equally diverse dining scene, with local Hawaiian food, Filipino restaurants, barbecue joints, and more.