Hudson River at Staatsburgh Mills Mansion State Park is a 2.7 mile out and back trail located near Ulster Park, NY and is good for all skill levels. The trail is primarily used for hiking and is accessible year-round.
Nice easy hike, recommend to go in the fall for color and winter when the mansion is covered in lights :).
Yesterday I saw probably one of the best sunsets I've seen around the NY area, there in Staatsburg! Beautiful place! Great choice for a summer house. Mill's had the right idea :) The area is full of friendly deer around the common grounds. The trail has amazing views of the Hudson river, colorful mountains, and a small light~house. The historic area would make for a great family outing, casual date, or friendly picnic! Just make sure to have a way to keep mosquitoes away (it's full of them during this time).
I believe the driving directions an incorrect "pin drop" location. Mills Mansion is across the river in Staatsburg, not in Ulster Park. I think the Norrie Point Trail entry on Alltrails would get you closer to Mills Mansion.
However, the "pin drop" for this entry is close to Esopus Meadows which is a nice little hike with an easy trail to a view of the Hudson.
Great hike for the family. Well maintained trails, great views all times of the year (sleigh riding in winter!) Beautiful views of the Hudson River. I still haven't toured the mansion, but hope to this fall. Lots of historical information to absorb! Enjoy :)
Nice and easy family hike with little signs about the history of the place around the mansion. Lots of deer on the property.