Tours leave on the hour, but there is a nature center and park to keep you busy while waiting. There is also a video to watch about the new part of the cave that was discovered around 2004. You can't visit this part so the video is the only way you'll see this fantastic part of the cave. The cost was $18, but there is a $2 coupon on their website. The tour lasts 70 minutes.
The tour is a good mix of human and geological history. There is plenty of history of both to this cave. This is also a great place to see shields, which are an unusual cave formation that you won't see in the same numbers anywhere else.
My wife and I were the only people on the tour. I'm not sure why, since this tour and cave sounds like it is head and shoulders above the others in the area and in Virginia in general. Go there and get a private tour while you still can.
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