I only took my Nikkor 16-35mm wide angle zoom, cranked up my ISO to 3200 auto, set my VR on, and cranked up my WB setting to 6,000 Kelvin to get more red color. I shot JPEGs in the VIVID mode with extra +1 on sharpness and +1 on saturation. I used the Program Auto mode and just kept shooting. I didn't even bring a tripod. All the pictures I took were handheld. Exposure compensation to -2 and bracketed with +/- 0.7. I ended up using all the middle exposures anyways, though.
It's dusty and tight in the canyon, so bring your wide angle lens and leave the others in your car. It's better to keep shooting many angles rather than setting up tripod every time simply because you will have way more pics to choose from and other tourists don't have to get stuck behind you. Thanks to the technologies, we can take pics in the dark handheld nowadays. (Nikkor D800E, Nikkor 16-35mm at 24mm, f/4, 1/60, ISO = 3,200, handheld, JPEG, Vivid +, WB = about 6,500)