The Superior Hiking Trail is a 205-mile long footpath that follows the rocky ridgeline above Lake Superior in northeastern Minnesota from Two Harbors to the Canadian border. There are 275 total miles in the trail system which includes 39 miles of trail from Jay cooke State Park through the City of Duluth as well as loops, spurs, and overlook trails. The focus now is finishing the trail between Duluth and Two Harbors. The trail has trailheads with parking lots every 5-10 miles making it ideal for both day hikes and backpacking.
http://www.shta.org/
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