Whipple cave is located 3 hours from Las Vegas, heading north. Coordinates to the cave can be found here: latitude 38.48909 longitude 115.01829
Once you get to the Whipple cave access road, pass the wire fenced gate located on the right hand side. Here, you will drive on a dirt road for about 2 miles. A 4w drive is highly encountered. You won’t be able to make the drive in a sedan. You will see the trailhead at the end of the road.
You can camp here for the night. There’s fire pits available throughout, it’s a very secluded area so you will not run into other people or crowds. Just an FYI, it gets pretty windy at night. Dog friendly! No reservation required, free to camp!
The cave is located a couple minutes away, up the mountain. You will see signs for it. You can enter the cave by rappelling down 70 feet. Once at the bottom, you can embark on a 2 mile spelunking adventure!!! You will need a 165 ft rope and headlamps to accomplish this adventure as well as technical rope-climbing skills.