Keep him hydrated, don't let him walk too much (as he could scrape up his paw pads), and he should do great
Or you could find him some comfy little hiking boots
If you do, please post pics
Oh, be sure to pack up a first aid kit for dogs, I think there's a list here somewhere you can search for
These little ones love to go everywhere with us and I love to hear about all of the fun stuff everyone does with their doggies! The most adventurous thing I've ever done with mine were trips to the local parks and swimming in the pool