There are a lot of different kinds of history. The first step would be to determine what type of history that you think you are interested in and how far you are willing to travel. We have been married for 62 years. During our working life our hobbies and vacations all involved the great outdoors...hunting, fishing, hiking, boating, etc. I thought that would continue in retirement...only a small amount of it did continue. Before I retired we were transferred from the west coast to the easy coast. We remained here since retiring in 1999.
After arriving on the east coast my wife suggested that we take a few camping trips to historical areas, sites/towns and learn some of the eastern history. Well, for the last 25+ years we have traveled up and down the east coast visiting historical sites from Maine to Florida. We toured presidents homes, civil war battle fields many historic rice, cotton and indigo plantations and museums, toured lots of National Wildlife Refuges and learned the importance of protecting wildlife, wildlife habitat and the history of market hunting. We got hooked on visiting National Parks both historic and wild areas and their history and purpose. We really got hooked on learning the history of the Low-country of the east coast, the plantations and the history of slavery, slave trading and the Gullah Geechee Culture. We camped near and toured many historic towns and cities like Charleston, SC, Beaufort, NC and SC, Savannah, GA and many more taking the horse and buggy tours and visiting the city museums. I could go on and on and on about our history learning RV trips and there is more out there than we could possibly visit or learn about just on the east coast. Oh yeah, we aslo got hooked on Appalachian History and its music history which took us up and down the Blue Ridge Parkway, on the Crooked Road...The Virginia Music Trail and to many old country, bluegrass, dulsamer and old-tyme music festivals. museums and events.
My advice, just start visiting various historic sites, areas and museums, etc., and learn what history types interests you. You are likely to be surprised by what type history catches your interest and pulls you in. There is interesting history out there that you never have even heard of. Of course you should consider your family varying interests and share.
We learned about historic sites by searing online for state or region history, picking up information at visitor centers in cities and at state lines and library books on Historic Driving tours, etc.