The Nebo Loop is a scenic byway that goes from Nephi, around Mt Nebo, north to Payson. There are a ton of overlooks, little hikes, and so on. And cows.
This is basically the easiest type of "hike" you can go on. At no point are you actually required to walk on dirt. In fact, you could spend your entire walk avoiding dirt entirely. Wear heels if you want.
Over the past decade or so I've visited Lava more than half a dozen times, and through these trips, these six have been my absolute favorite, the must do's of Lava Hot Springs.