This is one of our favorite locations to go in Colorado Springs - it is also free. There are paved trails through the central rock formations and hiking trails around the park. You can also just drive through the park.
If you're looking for a challenge this is a great place to start! This hike is essentially straight up the base of Pikes Peak, you will gain over 2,000 feet of elevation in less than 1 mile. They are now requiring reservations (free) to hike and be sure to follow the parking directions on the website as you won't be allowed to park at the trailhead. Be sure to check out downtown Manitou Springs while you're here!
This is one way to get to the summit of Pikes Peak, this is a lovely scenic ride and definitely the most relaxing way to get to the top. The Summit Visitor Center is famous for their donuts. If you're interested in hiking Pikes Peak, they offer one way tickets for your descent.
This is another great option to reach the summit of Pike's Peak, the highway is open all the way to the top weather dependent. There is also the option of riding the shuttle bus (for a fee) from Mile 7, if you're not wanting to test your car's brakes. There are lots of stops and viewpoints along the highway including a lake where you can do some hiking (most of our engagement photos were taken along this highway and at the lake). Highly recommend.
If you are looking to white water raft while you are here (September is still in season), I have gone twice through this company at Brown's Canyon in Buena Vista which is less than a two hour drive from Colorado Springs. You will have beautiful views of Brown's Canyon and the Collegiate Peaks. It is a very scenic drive to Buena Vista from Colorado Springs - recommend going through Cañon City and you can stop at the Royal Gorge as well.