Has anyone taken a tour on a bus?

[Cathy]

My husband has trouble walking any distance and tires very easily. We miss not taking an occasional trip out of town. Someone mentioned bus tours and I had not even considered that. Has anyone here traveled by bus, with an organized group?

We would only want to be gone 3-4 days and wouldn't want to do any long walking etc. I was wondering if the tour operators are flexible in allowing people to stay on a bus if they come to an attraction that the person doesn't have the stamina to hike to?

We'd be interested in South Dakota or Chicago or Minneapolis or other centrally located places.

I know that different tours would be better than others, just hoping to find out if the experience was a pleasant one and unstructured enough to allow for people to opt out of parts of the tour and just stay on the bus while the others went up to a monument etc.

Also, did you find it to be very expensive or are most costs covered? TIA