The park has more than five miles of hiking trails along the lake and through varied habitat.
From Madison: Take Highway 12/18 east past Interstate 90. Turn right on Highway AB. At the T-intersection (Highway MN), turn left. Turn right on Door Creek Road. The park is at the other end of Door Creek Road on the right hand side.
http://www.tripleblaze.com/trail.php?c=3&i=5785