Last Updated: July 2, 2026
New York was our first stop after leaving Vermont. We loved seeing all the fall colors, but further south, the beautiful fall foliage had not yet reached its peak. We were looking forward to witnessing the colors all over again!
Rhinebeck, New York
In New York, we stayed at the Interlake RV Park. They had full service, ok wifi, but no satellite reception because of all the trees. It was a beautiful location.
New York wood fired pizza at Posto with Italian wine was delicious.
Nearby in Hyde Park was the Vanderbilt Mansion National Historic Site and the FDR Presidential Library and Museum. The grounds were beautiful over looking the Hudson River.
Vanderbilt Mansion NHS — Address: 4097 Albany Post Road, Hyde Park, New York 12538. Phone: (845) 229-7770. Hours: Open daily 9 am–5 pm; closed Thanksgiving, Christmas, and New Year’s Day. Admission: $15 per adult; children under 16 free. America the Beautiful annual passes accepted. The admission fee covers a ranger-guided mansion tour — the grounds and Hudson River overlook are free to walk at any time. Website: nps.gov/vama. The FDR Presidential Library and Museum is a short drive away at 4079 Albany Post Road — separate admission of $24 adults.
Poughkeepsie, New York
We decide to do the Walkway Over the Hudson. The bridge was originally built in 1889 as a railroad bridge. Eventually, the tracks were decommissioned and the bridge turned into a park. There were beautiful views but it was very windy.
Jake liked this fancy New York dog water fountain. If not for the dog, I (Sandy) might have been mistaken for a homeless person! Haha.
Walkway Over the Hudson State Historic Park — Address: 61 Parker Avenue, Poughkeepsie, New York 12601 (western entrance). Eastern entrance at 87 Haviland Road, Highland, New York. Phone: (845) 834-2867. Hours: Open year-round, 7 am–sunset. Admission: Free. The Walkway stretches 1.28 miles across the Hudson River at 212 feet above the water — the longest elevated pedestrian bridge in the world. Dogs on leash are welcome. Dress in layers; the bridge is significantly more exposed and windier than ground level. Website: walkway.org.
East Stroudsburg, Pennsylvania
The Delaware Water Gap was a couple hour drive from New York. We stayed at a KOA which didn’t have sewer, satellite, or wifi. We were there on a weekend and there was a party crowd already celebrating halloween even though it was only Oct 12th.
Dingmans Falls had a nice boardwalk to a viewing area.
Unfortunately, it’s not dog friendly so Jake had to wait in the Jeep. The falls have a vertical drop of about 130 feet into a large pool.
Gettysburg, Pennsylvania
Address: Gettysburg National Military Park Visitor Center, 1195 Baltimore Pike, Gettysburg, Pennsylvania 17325. Phone: (717) 334-1124. Hours: Visitor Center open daily 8 am–5 pm (extended summer hours); battlefield roads open sunrise to sunset year-round. Admission: The battlefield itself is free to drive. The Museum and Cyclorama are $15 adults, $9 ages 6–12, children under 6 free. Licensed battlefield guide fees are separate and highly recommended — roughly $75–$90 for a 2-hour vehicle tour. Dogs: Allowed on the outdoor battlefield grounds on a leash; not permitted inside the Visitor Center or buildings. Website: nps.gov/gett.
The history of the battles at Gettysburg are well documented around the battlefield.
Our last visit to Gettysburg was a couple of years ago. Even though we throughly explored the area, there was still so much more to see.
We returned to the Dobbin House Tavern for beers and lunch. It was established in 1776 and has been a local tavern for many years.
The Gettysburg Campground had full service with a large site. Unfortunately, when we arrived and unhooked the jeep, it wouldn’t start so we had to hook it back up to the RV and drive to the campsite. Good thing it was a pull thru site. We got a jumpstart the next morning and Michael was able to drive 4 miles to AutoZone and get a new battery installed. It’s all part of the “adventure”! Jake enjoyed chasing the squirrels and meeting a pet pig that one of the other campers brought along.
Williamsport, Maryland
We stayed at at the Yogi Bear’s Jellystone Park. Initially we were very skeptical because it caters to families by offering a huge waterpark, laser tag and numerous other activities. We were there in the off season. The wifi was good, we had full service, satellite and a large end site with a nice view. October 18th and more Halloween celebrations!!
Practical Tips for This Route
The Walkway Over the Hudson is genuinely windy — dress in more layers than you think you need, especially in fall. The bridge is 212 feet above the river and fully exposed, so even a mild day on the ground can feel harsh up top. That said, the views on a clear fall day are exceptional and absolutely worth the walk. Dingmans Falls is not dog-friendly — leashed dogs are not allowed on the boardwalk trail. Leave Jake in the car with water and good ventilation, as we did. The walk itself is about 20 minutes round trip and the falls are spectacular enough that it’s worth the detour even with a dog in tow. Hire a licensed battlefield guide at Gettysburg — you can tour the battlefield roads by car on your own, but a licensed guide riding with you in your vehicle adds an irreplaceable layer of context that no audio tour or app can replicate. Two hours with a guide unlocks the entire three-day battle in a way that makes the monument-studded landscape suddenly make sense. Keep a jump-start battery pack in your tow vehicle — learned from experience. Our Jeep battery died after sitting hooked to the RV for extended periods. A compact lithium jump-starter (they’re small now and inexpensive) can save you the stress of arranging a roadside jump in an unfamiliar campground. Hyde Park is worth a full day — the Vanderbilt Mansion, FDR Presidential Library, and Eleanor Roosevelt National Historic Site (Val-Kill) are all within a few miles of each other and a combined visit makes for one of the more historically rich days possible in the Hudson Valley.
Frequently Asked Questions
How long does it take to see Gettysburg? You can spend anywhere from half a day to several days. A self-guided driving tour of the battlefield roads with the NPS auto-tour audio guide takes about 3–4 hours and covers the major positions. A 2-hour ranger- or licensed guide-led tour covers the highlights and provides real depth. The Museum and Cyclorama add another 2–3 hours. We’ve visited twice now and each time found something new — there are over 1,300 monuments and markers across 6,000 acres.
Is the Walkway Over the Hudson free? Yes — completely free and open year-round. Parking is available at both the Poughkeepsie (western) and Highland (eastern) entrance lots for a nominal fee. The walkway itself is 1.28 miles one way — plan on about 45 minutes for a leisurely round trip, longer if you stop to take in the views. Dogs on leash are welcome.
Can you bring dogs to Gettysburg National Military Park? Yes — dogs are permitted on the outdoor battlefield grounds on a 6-foot leash. They are not allowed inside the Visitor Center, the Museum, or any of the indoor facilities. The battlefield roads and many of the monument areas are fully accessible with a dog, which made it an easy stop for us with Jake.
What is the best way to see the Gettysburg Battlefield? The most rewarding approach is to hire a licensed battlefield guide — they ride in your vehicle and narrate the three-day battle as you drive the battlefield roads, stopping at key positions. It’s roughly $75–$90 for a 2-hour tour and genuinely transforms the experience from a scenic drive past monuments into an immersive understanding of one of history’s most consequential engagements. Guides are available at the Visitor Center on a first-come basis or by advance reservation. The NPS auto-tour CD is a solid second option if you prefer to go at your own pace.
What is the Vanderbilt Mansion in Hyde Park, New York? The Vanderbilt Mansion is a Beaux-Arts National Historic Site completed in 1899 for Frederick Vanderbilt, grandson of railroad tycoon Cornelius Vanderbilt. It’s one of the best-preserved examples of Gilded Age estate architecture in the country, with original furnishings and artwork still in place. The 211-acre grounds overlook the Hudson River and include formal Italian and Colonial Revival gardens. Ranger-guided tours run throughout the day and are included with the $15 admission fee.
