Originally Posted by ksandness

If you're willing to drive out of the city, take the road along the Mississippi River from Red Wing to LaCrosse and then back on the Wisconsin side. It's one of the few areas in the upper Midwest that wasn't glaciated. Or else go straight west from St. Paul, turn left when you hit Wisconsin, and explore the St. Croix valley, with perhaps a stop in Stillwater on the way back.