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Going Where It's Dark by Phyllis Reynolds Naylor

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A middle-grade novel that combines adrenaline-fueled adventure with a coming-of-age story about a boy who loves the challenges he faces when caving but finds daily life dealing with his stuttering problem a most difficult challenge.
Buck Anderson’s life seems to be changing completely. His best friend, David, has moved away; his anxious parents are hounding him more than ever; he has reluctantly agreed to fill in for his uncle and do odd jobs for a grumpy old veteran in town; and his twin sister has a new boyfriend and is never around anymore. To top it all off, Buck is bullied by a group of boys at school—mainly because he stutters.
 There is one thing that frees Buck from his worries. It is the heart-pounding exhilaration he feels when exploring underground caves in and around his hometown. He used to go caving with David, but he's determined to continue on his own now. He doesn’t know that more changes are headed his way—changes that just might make him rethink his view of the world and his place in it.