 If you go to their website at essenceofcoffee.com, you can place your order and choose delivery as an option, and a door dasher will deliver your order. This is only within a five-mile radius from their store. Again, they're located at 908 Main in Rapid City, Essence of Coffee. Open 630 to 3 Monday through Friday, 7 to 2 on Saturdays and Sunday. The official coffee to Rapid City Morning News.