By: Rebecca Strong | From: Yahoo Travel

As far as family memories go, there's something about summer vacations that stick with you — memories of campfire sing-alongs, sandcastle masterpieces and sticky fingers from melting ice cream hang around long after the season ends. 

Experts agree the best summer vacations for families are those that offer little ones plenty of entertainment, older kids a dose of adventure and grown-ups some much-needed opportunities to relax. But as fun as these trips can be, planning one that appeals to all ages can feel like a logistical struggle. 

Here's the good news: There are a number of destinations that fit the bill, including wildlife-rich mountain getaways, laid-back beach towns and culture-packed cities.

San Antonio, Texas

San Antonio is a prime summer destination for families because it has an ideal mix of sightseeing and entertainment, says Osborn. The Riverwalk is a picturesque home base, The Alamo adds a history lesson to the mix, and SeaWorld and Six Flags Fiesta Texas can easily keep the kids entertained for hours.

One spectacular way to spend a summer day is at the San Antonio Botanical Garden, with plenty of playhouses and hands-on learning, as well as a Family Adventure Garden with nature-themed mazes and sandboxes. Also worth exploring? The Government Canyon State Natural Area, an epic preserve with over 40 miles of trails for hiking and biking. Kids of all ages can marvel at the 104-million-year-old dinosaur tracks, and there are 23 walk-in tent campsites if you decide to turn your visit into an overnight experience.

"For hotels, I like Home2 Suites by Hilton San Antonio Riverwalk or TownePlace Suites San Antonio Downtown Riverwalk. Both give families an affordable suite-style option that's close to most of the major attractions around the city," Osborn adds.