The Horicon Boat Launch is on your left if you're coming from US-9. I went on a weekday but the parking is for trailers only. Across the road and about 50 yards from the entrance is a dirt parking area and ramp for paddle craft. Paddle left to go on the river; paddle right then under the bridge to go out onto the lake. There are porta-johns at the boat launch parking lot.
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If you have any questions about this paddling location or have other relevant information that would be helpful to other paddlers, please add them as comments below for the entire community!