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Firehole Falls is a small waterfall that flows on the Firehole River.
The geology of this area is composed mostly of rhyolite lava, which is a pretty stiff type of lava (as opposed to the free-flowing types you're more likely to see in the Big Island of Hawaii. So given the hard nature of this lava, perhaps it's not terribly surprising to find a cascade and a waterfall in the Firehole River Canyon.
I don't think you're supposed to swim at the falls (especially given the high flow and the foul weather we experienced on our trip), but there a sanctioned swimming spot a mile further upstream where it's apparently geothermally heated.
Directions: To reach the falls, go south of the Madison Junction along the Grand Loop Road (towards Old Faithful) for about a half-mile or so. Look to the right for the entrance to the one-way Firehole Canyon Drive. At about a mile into the Firehole Canyon Drive is the signposted waterfall.
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