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Our One Day Basic would set you up for doing many canyons in Zion, and maybe elsewhere if you are a quick learner. $199.00 per person at Zion Adventure Company. It is good to schedule a couple of days of canyoneering after your course, so you can work those skills into your memory better. After a course, gear can be rented for about $25.00 per person per day (without wetsuits or dry suits). For most people, another day of instruction would be required to safely navigate canyons outside of Zion that require some natural anchor skills.
Rick at Excursions of Escalante can do much the same thing for you, might even be less. Yes, he lists the ACA 3-Day course for $500.00 per person, but he might maybe take you out for a one day custom course for about the same - ie, $400 for one day course for two people... but give him a call.
Tom
Ahh! Very good to know! I was in contact with Escalante excursions, but I didn't think to ask if they could do a custom course, I'll give them a call to see what they can do for us. Thanks everyone for the great suggestions, I can't wait to explore the area.