The park is adjacent to the Mount Rogers National Recreation Area, a part of Jefferson National Forest. Grayson Highlands State Park was originally named Mount Rogers State Park and was established in 1965. No pets are allowed in the park's public facilities. More than two miles of bridle paths wander through the park. These paths also lead to bridle trails in Jefferson National Forest. Parking facilities for horse trailers and overnight stables are available at the park. The park does not provide horses for trail rides. The park has nine hiking trails averaging a mile in length. These trails lead to panoramic vistas, scenic waterfalls and a 200 year old pioneer cabin. The park also offers access to the Appalachian Trail and trails in the surrounding Jefferson National Forest. A list of trails and their mileage follows this section on Grayson Highlands State Park.

• In the evening attend a program at the ampitheatre.