Check out the list of sites participating in the MN DNR Paddle the Minnesota River in the Day event.
This is a FREE event!
Each of the public paddles in the list have different requirements in regards to skill level or if canoes are provided or if you need to bring your own. Lengths of time/distance are provided for each one, as well as contact info to register. There are 6 public paddles and half of them have canoes available to use. So, get registered right away to see if there is one available if you need it.