We spent $374 to take a ferry across Lake Michigan with our car. The journey was nice, but I'll do things differently next time.

• My family and I spent about $750 to take a roundtrip ferry across Lake Michigan.
• We took our car on the ferry, which accounted for the majority of our expenses.
• The trip was relaxing, but next time, I'll rent a car at our destination.

As one of the most populous cities in the US, Chicago has some pretty terrible traffic. However, I have to brave it several times a year when traveling between Wisconsin and Michigan for work and family events.

By the time I reach my destination, I usually have a migraine, my kids have motion sickness, and my husband is crabby and exhausted.

So, when I found out we could take the Lake Express from Milwaukee to Muskegon, Michigan, with our car and entirely avoid traveling through Chicago, I was thrilled.

Over the summer, my family gave the ferry a try. Here's what our experience was like.

We booked our tickets in advance and took advantage of a few discounts

I purchased our tickets a few days in advance and used a college-student discount since I was taking a graduate-school course. We also saved almost $200 with a summer "kids ride free" promotion.

After these discounts, we only spent $187 each way for the four of us.

However, on each leg of the trip, we also had to pay $72 for port, security, and fuel fees, and bringing our car cost us $115 each way. In total, we spent $748 roundtrip.

We boarded the ferry with our car

For our departure, we arrived at the terminal half an hour early and waited in a line of cars until it was time to board.

Driving onto the ferry was easy, but parking required guidance since the cars were packed in like sardines. Thankfully, the Lake Express employees eased us into our space with hand signals.

The ferry was much more comfortable than driving

I was pleased to find lots of comfy cushioned seating on the Lake Express, even in the most basic cabin. My kids love coloring, card games, and messy snacks, and I like to crochet, so we grabbed a large table with aisle access.

My husband and I didn't pack enough snacks for ourselves, but thankfully, there were plenty to purchase at the onboard café. Its menu included sandwiches, salads, coffee, and even beers by Bell's Brewery and Milwaukee Brewing Co.

The trip wasn't stress-free, but the views made up for it

Throughout the majority of the voyage, my stress melted away. Despite moderate winds, the rooftop deck's gorgeous views of the sky and shoreline were a treat. Sailboats, lighthouses, waterfowl, and other surprises delighted my kids throughout the ride.

However, the deboarding process was stressful. Because the cars were parked so close together, we found it tricky to maneuver out of our space. Plus, walking between the cars required some minor acrobatics.

However, dealing with these minor inconveniences was still better than driving through Chicago. Next time we take the ferry, though, we'll borrow someone else's car at our destination or rent one at the terminal.

After all, the vehicle fees were the most expensive part our booking and leaving our car at home could've saved us hundreds of dollars.