I have an Garmin eTrex Vista, which is similar to the Legend but has more memory and adds a barometric altimeter and a compass-- GPS altitude readings don't work very well, and direction info only works when moving, so the extra features can be nice.

Anyways, you get a "bread crumb" display of your route on the map screen, and so far as I've seen it is pretty much the same from trip to trip, so you can follow it pretty easily.

I just glanced at pricegrabber.com, and it looks like the Vista can be had for around $210, the Legend for about $140, and the color Legend for around $210. Handle bar mount will run you about $10.