Good day trip close to Madison?

Hi all,
I haven’t explored Wisconsin much and I was looking for a good day trip close to Madison, up to ~2 hours away. Thing is, it can’t have a lot of hiking or intense walking as my husband is disabled. He can do short walks, like to restaurants or to a lake from a parking lot. We like small cute towns as well as big bustling cities. Prefer not to spend much money, but interested in some good food.

Any suggestions?