Nauvoo is located on the banks of the beautiful Mississippi River. The Mississippi River encases a culture of it's own, and at one point steamboats were used for fast travel.
To book your own Mississippi River trip, which is an overnight affair, visit this site:
http://spiritofpeoria.com/
This trip is on "one of the nation's only overnight paddleboarders"! A unique experience that your family will not forget!
Other Mississippi River boat trips can be examined here: celebrationbelle.com
and here: dubuqueriverrides.com
Happy Sailing!