Moab is amazingly scenic, the Needles District of Canyonland NP is even more so. Here is a good description of the trail, by some guy named Todd Adams...
http://www.4x4wire.com/trail/report/ut/elephanthill/
Also mentions the Joint Trail hike, which is a nice thing to do while you are there, as well as the Confluence overlook hike.
You'll be fine. But yes, no pets off the pavement at Canyonlands.With my handy dandy skid plates, looks like I'd be OK according the book....but no pets ...how will I explain that to Nikki & Bandi? Dang!
K-E-N-N-E-L