Fishing Bridge is the only campground inside the park that has full hookups. You'll need to make reservations well in advance, like right now, to get a space during the summer.
Outside the park, West Yellowstone is the closest place with RV parks. We stay inside the park when we go but friends use Grizzly RV park in West Yellowstone and seem to like it. Check RVparkreviews.com
If you can afford it, take one of the all day yellow car tours. It's pricey - around $90 per person, but we thought it was worth the price. Small groups and knowledgeable drivers.
You can do the geyser basin area around Old Faithful by yourself. No need for a tour guide, IMHO. Also be prepared to stop and wait as bison take their time standing in the middle of the road. Just be patient. It's a good time to get your camera and take pictures. They own the road and know it.
If you search on "Yellowstone" you'll find other folks suggestions and experiences.
Also search "Black Hills" for experiences with the Mt. Rushmore area.
Keith
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