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Adventure and the Grand Canyon go hand in hand, so it's not hard to plan a great Grand Canyon adventure tour. In Grand Canyon West on the Hualapai lands, many tour companies offer extreme off-road tours with SUVs or Hummer's as the vehicles of choice.
There are also a variety of ATV tours of the forest lands outside the Grand Canyon's South Rim. Many of these tours are geared to first-time riders, but check with the tour operator if you've never ridden an ATV before.
These tours all have experienced guides who know the area and the natural history of the area you'll see on your adventure tour. Many of these tours can be booked in combination with other adventure tours, such as helicopter rides or raft trips down the Colorado, too.