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Originally Posted by ham on rye
yeah there is. i live in the area. there's a guy who comes and picks people up from beacon train station in a converted short bus - takes them hiking or drops them at motels. forget the name. but there are some great hikes in this area.
also you can take the harlem line a little further up and go to taconic state park, they have cabins there i think. it should be accessible by train + taxi from dover plains or wassaic or one of those stops.
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We're about ten people total and looking to "camp" as in cooking marshmallows, horseback riding, kayaking, barbecuing etc. which of the two are better options? It seems like the first one is for hiking mostly? I'm trying to find options around manhattan online but many of them at hours away.
This is it - I have never been here (own a car and grew up in the area), but it sounds like what you're looking for:
http://maloufsmountain.com/
I know a lot of people also take the train to Cold Spring, walk for about a half mile up Rte. 9/9A (can't remember which), and hike up Breakneck Ridge. It's a great hike where you'll definitely need to use your hands. I don't know of any campgrounds, but I'm sure there are places to hike to for camping since it's connected to miles of trails.