Pioneer, Joseph Goodrich, came to Prairie du Lac, as Milton was called then, in 1838, looking for a better place for his family to live. He chose prairie land at the intersection of two Indian trails and built a small frame home. In the years to come, this prairie crossroads became heavily traveled and this seemed a good place for an inn. All were welcome under Joseph's roof, but not all of his guests traveled by stagecoach or train. Some were spirited into his care by the Underground Railroad.
Milton's underground tunnel is unique in the nation for being the only segment of the Underground Railroad that was actually underground and has retained its identity and is open to the public.