I couldn't leave my dog at home. Here's how I brought her on my Disney World vacation.

Traveling with an older or impaired dog might seem like a pipedream, but it is possible.

You don’t have to give up your plans to take a vacation just because you can’t find a kennel or pet sitter or your dog has specific medical needs. Many hotels across the U.S. have increasingly welcomed four-legged friends. Walt Disney World is one of those fantastic places to take your pet.

Increasingly, Disney World is becoming a trip for which you need advanced planning. Reserving restaurants, purchasing park hoppers, and picking your favorite room in advance can all be done via app or phone. This makes it a great option for people who need a little flexibility, like those with a pet with specific needs.

A few years ago, when my standard poodle began having problems with her legs, I realized kennels were not an option. I attempted to leave her with friends, but with the specific medication schedule and the exercises she needed, it was too much to leave to friends and family doing a good deed. Folks with elderly pets know it can be stressful to leave them with unknown people, so a sitter was not an option, either. Canceling an annual vacation overseas was imminent, but using the flexible options at Disney World gave us a family tradition that spanned years. That’s right, Sofia is a four-time Disney visitor.

Here’s how we have been able to take vacations at Disney World with our senior dog.

Traveling to Florida with your dog

Before leaving, have a veterinarian clear any pets with special circumstances for travel.

When Sofia’s legs were not strong enough to travel, her immune system was strong enough to resist other ailments like bacteria or other unknowns.

Once cleared with your vet, you’ll need to identify which car to take. With a larger pet, you’re probably driving, and an SUV can make your life easier. I take my hatchback and check with a mechanic before going on the trip.

Here’s what you should pack for your road trip.

• Dog food case with an extra container for treats and collapsable bowls (I like this one because it has a space for extra baggies). And don’t forget to pack a pill case if your pet needs medication. It sounds silly, but it will make remembering their medicine easier on hectic days.

• Prepare a sitting area for your dog in the back of the car. This can be a seat cover if your dog is larger, mellow, or likes to lay out. Smaller dogs may need a car seat. Active dogs may need a seat that hooks into the seatbelt and leashes them in. There are myriad options to make the actual driving easier. My poodle used a full backseat cover, and we laid a thin dog bed on top of that to cushion it for her a bit; she was extremely calm and was in no danger of interfering with the driver.

• Add a gallon of water for pets with picky stomachs. If you think the Florida water might disagree with them, this is worth the trouble.

• Bring a roll of paper towels, an extra blanket or throw, antibacterial gel, and a few plastic bags for the car. You never know what could happen.

• If you’re expecting extreme weather, hot or cold, pack dog booties. My pet experienced some unfortunate burns on her paws at a rest stop during a particularly hot year – these dog booties came in handy.

Before you leave, if your trip is long, look up the halfway point to spend the night since hotels that take pets might need a day or two notice in advance. Many motels, especially those along I-95, will take dogs. You can also opt for bed and breakfasts and boutique hotels if you want to take the chance to see how comfortable your pet might be. We stop in North Carolina, and my favorites are Dreamers in Wilmington (though the stairs might be tough for some dogs) and The Longleaf in Raleigh (first-floor rooms with lots of outdoor space).

It’s also a good idea to plan rest stops with lots of stretching time for everyone and make a list of 24-hour vets along your route in case there is even a chance of an issue.

Staying at Disney World with your dog

When planning your trip, you need to book the right hotels in advance. Disney’s Port Orleans - Riverside, Art of Animation Resort, Disney's Yacht Club Resort and The Cabins at Fort Wilderness all allow dogs (and only dogs), with a maximum of two per pet-friendly room, so be sure to call after you book so they can designate one for you and have up-to-date vaccination records readily available.

Art of Animation is a great choice for entry-level prices and if you want more space with non-rug floors. Their suites have sinks and a living room area where you can quarantine your pet so that you can get a little vacation me-time. My favorite is Port Orleans - Riverside since the area around the resort is lush and beautiful. The walking path between the two Port Orleans resorts is a great place for a long dog walk and offers a little privacy. The walkway has dog bags and garbage pails, too.

At the hotel, you’ll want to let the guest services team know whether you want a cleaning service or not. If you choose not to, you can still request clean towels and complimentary item refills at your door. And, when you arrive, if you check-in through the My Disney Experience app, you can go right to your room without waiting in the lobby with your pet.

Each dog is different, but my best plan has been to keep one area of the room with a dog bed (or crate) and bowls to ensure a safe space for the dog to feel comfortable in this new place. If it's a crate, I make sure to cover it with a blanket and leave music playing when I’m at the parks to create a calming situation and cover any new sounds they might hear outside. With an older, calmer dog, it’s been easy to set up a comforting bed and toy area, and visit at regular intervals for food and walks.

Park Hopper park tickets are expensive, but if you can swing them, they make a great option. You can take multiple breaks during the day and return to where you left off.

You’ll want to make a plan to come back to the hotel room every few hours to check up on your pet. Using this room as your home base, you can visit any of the other parks or attractions around Orlando, but remember to time your days to take care of your best friend since hotel employees are not pet sitters. Per Disney's pet policy, dogs should not be left unattended for more than 7 hours and should not "disrupt the quiet enjoyment" of other guests.

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Vets and emergency options while traveling

In case of medical emergencies, there are a few 24-hour veterinary centers near Disney World parks.

• 24/7 Animal Hospital of Orlando is about 30 minutes from the Walt Disney World Resort and, as the name implies, has emergency services 24 hours a day, 7 days a week.

• St. Charles Veterinary Hospital in Davenport, Florida.

• All Care Animal Hospital in Mineola, Florida, are also staffed 24/7 for animal emergencies.

• Best Friends Pet Hotel at Disney World, just across from the Port Orleans resorts, offers boarding, grooming and daycare if it’s just not possible for your dog to stay alone in the room while you’re at the parks. They offer indoor-only rooms or suites with patios and watch not only dogs but cats, rodents, and other pets. If you want your choice of accommodation, it's advised to call as soon as you know your travel dates.

If your dog requires meal prep, like chicken and rice dinners, there are grocery stores surrounding the resort, and some offer Doordash service for same-day delivery. Most rooms have refrigerators but call ahead to double-check since you will want to store that meal prep and gallon of water.

Doordash is a great service for anything else you might have forgotten (I even had much-needed half-marathon equipment delivered to the room the night before the race). If you are stuck for transportation while at the resort, their Minnie Van service, provided by Lyft, does allow pets to travel with their owners by booking on your Lyft app – but be aware that it's typically at a higher price than a regular Lyft ride.

Of course, only service dogs are allowed in the parks, but the amount of space and service provided at the animal-friendly hotels, as well as the time you can spend on property with your pets and on the drive down, will make you feel like they are part of the entire vacation.

Bringing an elderly or impaired animal with you is worth the research time so that you won’t stress about leaving them at home.

Do you take your pet on vacation? Email me at adooling@gannett.com and tell me how you plan the trip.

This article originally appeared on USA TODAY: How to travel to Disney World with a dog