America’s Origins by the Ocean and Through Space: A Long RV Road Trip Weekend in Northeast Florida

A Proper Welcome to the Oldest City

Castillo de San Marcos

Visit the oldest masonry fortress in the U.S. built in 1672: Castillo de San Marcos. Activities include historic weapons demonstrations, cannon firings, and storytelling by and photo opportunities with fortress staff dressed in period attire who speak to the lives and experiences of the colonists who lived in St. Augustine hundreds of years ago. Even better is the free nearby RV parking! 

St. George and Aviles Streets

Then have a stroll on St. George and Aviles Streets with mid-morning snack options at various cafes and colonial buildings, and a stop at the Colonial Quarter Museum for living history demonstrations and blacksmithing. Be sure to visit the St. Augustine Pirate & Treasure Museum, one of the most interactive stops for kids and adults alike, to view artifacts, participate in interactive exhibits, and see history unfold.

Fort Mose Historic State Park

Explore Fort Mose Historic State Park, the first legally sanctioned free Black settlement in what is now the United States. Walk its scenic boardwalks and learn about America’s early pursuit of freedom before heading back to camp for the evening to unwind and get ready for another day.

St. Augustine Lighthouse & Maritime Museum

After your leisure morning of coffee around the campfire, head to the St. Augustine Lighthouse & Maritime Museum for a nice workout of 219 steps leading to a stunning panorama. Plan to spend time in the shipwreck conservation lab and partake in scavenger hunts with the kiddos, too. The lighthouse has plenty of RV parking if needed and the staff recommend coming at the start or end of the day for easier parking access.

Lightner Museum

After your Lighthouse climb, use Florida Historic Coast’s RV and motorcoach parking guide to find parking after taking the 10-minute drive to the Lightner Museum. This museum, nestled inside the former Alcazar Hotel, highlights artifacts from America’s Gilded Age with costumes, furnishings, mechanical wooden instruments, Victorian art, and stained glasswork from the late 19th century. 

Wrap up your day at the campground with s’mores and a chilled glass full of your favorite libation while enjoying the campfire.

Military History With a Side of Campsite R&R

Fort Matanzas National Monument

After your morning RV routine, pack up and head to Fort Matanzas National Monument, which is roughly 10 miles south of St. Augustine. Note that you can park your RV in one of the visitor lots before catching a short ferry ride to the site. The monument preserves a fortified coquina watchtower, completed in 1742, which defended the southern approach to the Spanish military settlement of St. Augustine. 

Merritt Island

After seeing Fort Matanzas, take an afternoon drive and head south to Merritt Island to get set up at your next camp, where you can enjoy swimming, rocket launch viewing, and stargazing.

FUN FACT: With the right timing, RVers can view rocket launches from campgrounds such as Jetty Park Campground and Manatee Hammock Campground.

An RV Trip That's Out of This World

Kennedy Space Center

Merritt Island is home to the Kennedy Space Center, a Smithsonian affiliate that provides opportunities for visitors to view artifacts of NASA’s Mercury, Gemini, Apollo, and Space Shuttle programs, the U.S. Astronaut Hall of Fame, and other attractions. The center also offers visitors opportunities to speak with current astronauts and to participate in four to five-hour astronaut training programs. If you can add an extra day, we suggest planning for two days to see everything.