Waukesha was the hometown of Les Paul, the inventor of the electric guitar. To commemorate his legacy, there are guitar statues painted by local artists scattered around Historic Downtown Waukesha. All of the locations are shown on this map: https://visitwaukesha.org/wp-content/uploads/Waukesha-Guitartown-map.pdf
Divino Gelato Cafe and Frame Park, also listed on this page, are in Downtown Waukesha.
Frame Park beautifully overlooks the Fox River. Their formal gardens are beautiful when the flowers are in full bloom, and there is also a walking path along the river. Their playground is large and very fun for littles!
In the heart of downtown Waukesha, stop by this gelato shop for some dessert!
Mama D's is a staple in Waukesha! With locations in Wales and Waukesha, you can go for a muffin, coffee, smoothie, breakfast, or lunch.
This beautiful Catholic Church is worth a visit! It is a 40 minute drive from Waukesha, where you can overlook miles of surrounding landscape, attend Mass (6:00 am and 11:00 am on weekdays), visit the Catholic gift shop, or just admire the Church itself.
Retzer is a great hiking spot with free admission. With trails ranging from half a mile to two and a half miles, you will be able to spend time outside in the forest and prairie.