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If you are in the mood for a bit of a longer drive, head up to North/South Lake state park in the Catskills. There are many kid friendly hikes of various distances and difficulties along the escarpment which overlooks the hudson valley. There are lakes to swim and fish in, picnic areas, and you can rent rowboats for something a little different. Sure it costs money since it's a state park but it's a great place to bring kids.
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