You could take the tourist route . . . or you could take the adventurous route.
You will always remember the smells of Africa. Every step has its own expression and when you return that's the first sense of Africa that is engaged. Everyone will tell you that.
But there is another part of Africa that you have to experience and that is the sound of the night. Sitting around a campfire with friends - eating, drinking, telling stories, maybe even a few songs. Seems like any camping holiday until you hear a lion snarl or the death cry of an animal or maybe just the furtive rustling outside the secure area. It could be very scary if it was not so safe! But the sounds - you will never forget the sounds.