We love Ledges State Park in Boone. Today, we hiked 4 miles on the trails south of Canyon Drive, including the Lost Lake Trail. The Mesquakie Trailhead is at the lower parking lot, which is an easy place to park. We also park there for creek walking, when the weather is warmer.
The Lost Lake Trail is definitely worth hiking on after you try out the trails overlooking Pea's Creek canyon.
Look for the bench in the photo below and then follow the path behind it toward the Des Moines River. There's a really great overlook there.
