The Kinnickinnic river parkway is near our home, it's part of the Oak Leaf trail. We started on that, then cut across town towards the Honey Creek and Root River parkways, which took us to Greenfield park.
The New Berlin Rec trail is a great way to get from Milwaukee to Waukesha. One must traverse some city streets to reach the Glacial Drumlin trail, but it's pleasant, and there are coffee shops!
We made it! Twenty miles from home, and all we have to do is turn around and ride back...