Estes park or Pikes Peak? Colorado?

My husband and my 3 kids (ages 19, 17, 14) are going on vacation next week. We're trying to decide which place we should go to. Royal Gorge or pikes peak. We're kind of on a budget. We need a place where the kids will have a great time. If you could give me some sites where they have pictures or videos that would be great!