For the next adventure with my sister, we took Megan on a 4-mile round trip day hike up to Hidden Valley. This hike is close to Moab, and you get some great views of town and the Behind the Rocks area + some incredible rock art.
To get to the trailhead, drive 3 miles south from Moab on U.S. 191 and turn right onto Angel Rock Road. After two blocks, turn right onto Rimrock Road and drive to parking area. The trail takes you up some steep switchbacks to the top of the Moab Rim. The trail is in great shape -- it's well marked and easy to follow. After climbing around 700 feet, the hike levels out to Hidden Valley, which is pretty and grassy. It's cool to look over the rim and see the town below. Every time I've been there, it's been cold and shady, so if it's not summer, bring a jacket!
After hiking through the valley, the trail swings to the left and goes over a low pass. You get some fantastic views of the Behind the Rocks area. Best of all, the big butte on the right is coated with rock art. Hop off the trail and skirt the bottom of the cliff to see loads of thousand-year-old petroglyph panels. Both Anasazi and Fremont cultures overlapped here as they used this route to get into Spanish Valley. Nice! If you're feeling feisty and have a shuttle car, you can keep hiking to the Colorado River via the Moab Rim Trail.