The Firehole River is a nice warm swimming hole just South of Madison. It's located on the one-way Firehole Canyon Loop off the Grand Loop Rd. You can't miss it. There are restrooms off to the left and parking is along the side of the road on the left. Stairs lead down to the swimming hole. Following the stairs down to the right leads to a nice pool area seen in the video. Going upstream to the left leads to the are where you can "jump the shoot" and float down a ways, climb out, walk up and do it all over again. I'd recommend a life jacket for smaller kids and water shoes are nice to have.