Exploring History & Popsicles: Our Family RV Trip to St. Augustine, FL

We packed up the RV and hit the road for one of Florida’s most charming and historic destinations—St. Augustine, the nation’s oldest city! From stunning coastal views to centuries-old forts and sweet treats that totally hit the spot, this stop was packed with adventure, learning, and just the right amount of silly.

Here’s a recap of our favorite moments from our unforgettable visit.

🚐 Ocean Grove RV Resort: Our Home Base

We stayed at Ocean Grove RV Resort, a great spot with everything we needed to relax and recharge between our adventures. It was clean, convenient, and super close to all the action in town. We loved being able to hop back to the RV for a snack or quick break after exploring.

🕯️ St. Augustine Lighthouse & Maritime Museum

First up on our itinerary was the iconic St. Augustine Lighthouse. Melissa and Emma climbed all 219 steps—and the view from the top? Totally worth the burn in our legs. The museum gave us a deeper look at the maritime history of the area, and the kids especially loved the interactive exhibits (okay, we did too).

🍭 A Sweet Stop at Hyppo Pops

Let’s be honest, Florida heat is no joke. So when we stumbled upon Hyppo Popsicles downtown, it felt like fate. These handcrafted popsicles are next-level—refreshing, flavorful, and just what we needed. If you visit, don’t skip this stop.

🏰 Castillo de San Marcos: Where History Comes Alive

Built in the 1600s, the Castillo de San Marcos National Monument is one of the coolest history lessons we’ve had on the road. The views of Matanzas Bay are gorgeous, and walking through the stone fortress gave us all a real sense of the city's past. It's a great mix of learning and fun (and some epic photo ops).

🌴 Anastasia State Park: Coastal Beauty at Its Best

We wrapped up our adventure with a visit to Anastasia State Park—a natural slice of paradise. We walked the trails, soaked in the beach views, and took a much-needed breather. This place is peaceful and perfect for stretching your legs.

🎬 Watch the Full Adventure on YouTube

Want to see the whole trip unfold (including a few laugh-out-loud moments)? Check out our full video over on YouTube. We take you along for the drive, the climbs, the popsicles, and yes—some bloopers, too.

👉 Watch now

Planning Your Own Trip?

Whether you’re roadschooling, full-timing, or just looking for a new Florida destination, we can’t recommend St. Augustine enough. It’s full of charm, history, and plenty of fun for the whole family. Add it to your list—you won’t regret it.

💬 Have you been to St. Augustine? Drop us a comment or tip—we’re always looking for new spots to explore!

Until next time,
— Danny, Melissa, Emma, Jake & Sadie 🐶
@4simplelives