The self-guided route starts at Milam Gap on Skyline Drive. Follow the blue-blazed Mill Prong Trail, then turn right and downhill onto the yellow-blazed Mill Prong Horse Trail after the second stream crossing. It is a moderate four-mile round trip, about 2 hours 45 minutes with 870 feet of elevation gain. You descend toward camp and climb back to the car; three stream crossings can be difficult after rain. The hike does not meet ADA accessibility guidelines.
If you want to see inside, book a ranger tour. It rides a seven-mile unpaved road from Harry F. Byrd Sr. Visitor Center and takes about 2.5 hours in all. An accessible wheelchair-only tour is available by reservation; visitors bring their own wheelchair. Tour schedules are seasonal, so check current availability before making the trip.