Estes Park is just up Highway 34 and is a beautiful place to walk around, shop and enjoy the view. There are lots of family friend hikes in Rocky Mountain National Park. If you are just wanting to walk around, enjoy the shops in Downtown Estes, and don't miss out on the homemade taffy.
If you haven't been inside, definitely check it out. Make sure you ride the ferris wheel and check out all it has to offer. It is easy to get lost in there for a couple hours, even if you don't buy anything. Definitely worth the walk inside.