Last Saturday we finally took a trip to Joshua Tree National Park in Riverside County. We drove there from my In-Laws home in the Imperial Valley and it took us about 2 hrs. We started in the Westgate entrance and drove through the whole park, following the main road. Along the way, there was lots to see.
Usually there is a $15 per car to enter the park. Lucky us, we went there during National park week and got to enter for free. But $15 are definitely worth it!
There are a bunch of hiking trails, but even if you aren't too much into hiking, there are many things to see that don't require a lot of walking (I still wouldn't recommend wearing heels or flip flops).
When you enter the park they give you a map and most of the "attractions" are clearly labeled and easy to find. Here is a map that helped me to plan the trip.
Dog are allowed in the park, but not on the trails. We brought our dog with us and we didn't know of that rule. You dogs can be up to 100ft from the main road. We hadn't planned on doing too much long hiking anyways, so it was ok. But if you can, it's definitely recommended to not bring your pooch.