Only a 20 minute drive from downtown, Eplegaarden is a fun place to check out during the fall. It's not a large operation but it's cute and charming. The setup for pick your own is fairly simple-pick your bag size, pay, and off you go. Point of clarification from past reviews-they do, now, accept credit card for purchases. They availability of apples is dependent on when you go but you find your typical varieties-cortland, pink lady, etc. For those that don't wait to toil for their fruit, pre-picked apples and other apple related goods are for sale in the barn. They also offer horse driven wagon rides (short but fun) as well as pick your own pumpkins (again, dependent on timing of your visit).
All in all, a fun couple of hours to be had just outside of Madison