Trip to Yu Hot Spring Resort from Macau with relatives

We are entering through Hong Kong and on to Macau to visit relatives. They want to take us by car on a 2 day trip to Yu Hot Springs about one hour drive into China. Do we need a visa for China? We have Belgian passports.
We have hotel reservations but are going by private car (so no travel arrangements in/out of PR China)
Thanks for advice!
Paul