Deadwood Forum: Rapid City, SD to Custer's Battlefield

Will be driving from Rapid City to Custer's Battefield the first part of Sept. We will have a 2 and a 4 year old with us, so we want to not try to do too much. Our plans are to leave Wed am and come home sometime on Friday. Want to stop at Devil's Tower either going or coming back. Am wondering what is the closest hotel/ town close to Custer's Battlefield? Will probably drive it in one day and maybe take a scenic route coming back into Rapid. Any suggestions on hotels or scenic driving areas would be appreciated?