Hi Becky, From Denver take I-70 and stop in Columbia (Missouri) , MO, about 10.5 hours drive from Denver. Stay at La Quinta by Wyndham Columbia, a pet-friendly hotel on I-70. Or at Staybridge Suites Columbia, another pet-friendly hotel. After Columbia, you'll have about 11 hours before arriving in Pittsburgh. Stop at Terre Haute , IN, if you prefer to drive further before taking a rest on the first day. The drive is around 15 hours. Stay at the Holiday Inn Express and Suites Terre Haute or Drury Inn Suites Terre Haute. You'll be left with another 7 hours drive from Terre Haute to Pittsburgh on I-70. Note: Make sure you make a hotel reservation in advance.
Becky