An easy and short stroll through the FDR estate to the Hyde Park Train Museum. Lovely forest views, the cleanest trails, well marked, and okay for dogs on leashes. Definitely check out the museum! Fascinating history and fun educational activities in the small building. Continue from there to the gorgeous views at Vanderbilt. Listen to history by finding the little audio posts (scan QR Code or call the number). I didn’t go as far as Bard Rock in awhile, but the views are worth it. great walk for all ages. Bathrooms available at the parks and museums along the way. Bring enough water/electrolytes and/or food to picnic for those that like to mosey slow and absorb the surroundings. Also, record your hike and earn park badges: http://www.hydeparkny.us/Recreation/Trails/WalkaboutTrails.pdf