I live about 40 miles from Lancaster...8 miles from Harrisburg. I go to Lancaster regularly for quilting supplies, fabric and fun. I usually go to a quilting retreat there twice a year also. This is the link where we have our quilting retreat. I would stay here instead of in a hotel for a better taste of the local area and history. the hospitality of the owners is wonderful:
http://www.whiteoakbnb.com/
You will definitely need a car to explore. Lots of rural areas and places you won't want to miss. Please feel free to PM if you have more questions and I will try to help. I will be in Lancaster in the next week or two and I would be glad to gather some brochures and info for you and send them to you, if you wish.
I am sending you a picture of a famous fabric store (not the norm, mind you)...just something you need to see. All we do is shake are heads! You are going to love Lancaster!