This was one of my all-time favourite trips, and as close to nature as you can get.
Kruger has a limited number of hiking tours available. It's normally for a 3 night duration, and starts with a pick-up at one of the main camps. From there you're taking by 4x4 to the base camp (max. of 8 people + guides).
Chalets are for 2 people each, and showers etc. are normally 1 per camp.
Itenary is morning and mid-afternoon walks, with siesta-time in the afternoon as it gets too hot to go traipsing around at around 11. The guides are extremely knowledgeable, and know the areas they serve very well, pointing out lairs, nests etc. along the way. You get very close to the animals, and was a major change vs. viewing them from the car from all the previous holidays.
At night there is wonderful cooking around the campfire. Each camp also has a large refrigerator for storing beer etc.
These hikes are extremely popular, and mostly have to be booked at least a year in advance.
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Website: http://www.parks-sa.co.za/parks/kruger/default.htm