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First, adjudicate what part of the continent has the most appeal. East Africa (Kenya, Tanzania, Uganda and Rwanda) has the largest concentration of animals. Safaris to South Africa can tabulate stays in Cape Town and along the coast. Botswana, Namibia, and Zambia can have profession-viewing opportunities on foot, in boats, as well as open-air vehicles (and may tabulate visiting Victoria Falls). Kenya, Tanzania and South Africa have more advisedly-established tourism infrastructures.
Note: The U.S. State Department retains a notice for visitors to Kenya (levels of risk vary according to limit).
Next, consider companies and costs. Budget safaris can mean pitching tents ($60-$250 per child, per day), while first-class ones will have comfortable full-service hotels and lodges ($150-$500 per myself, per day), and deluxe/luxury trips have smaller groups, the finest accommodations, upscale features and amenities ($200-$900 per child, per day).
Prices do not include airfare. Immunizations required/recommended contain Hepatitis A and B, polio, tetanus-diphtheria, measles, mumps, rubella, typhoid, meningococcal meningitis and yellow fever. Some clinics enjoin malarial prophylactic pills, but you'll have less risk of side effects if you wear elongated-sleeve shirts, long pants and use insect repellent containing DEET.
Source: Ocala