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Cold Spring is a quaint little town on the Hudson, known for its street of antique shops, B&Bs and amazing views of the river. Unfortunately most folks walk down to the pier to get their views and call it a day. This is unfortunate because there are even better views of the river and the surrounding mountains a few short steps away.
Less than 1/2 a mile north of Main Street, off of 9D ( a short walk or an even shorter drive ) is Little Stony Point Park. Upon entering the park and crossing the short bridge over the train tracks, take the trail to the left. Ten minutes later you will be rewarded with a great 180 degree view of the Hudson River from an elevation of over 100 feet. An incredibly easy "hike", more of a walk really, that offers breathtaking views.
For the slightly more ambitous, who wish to spend a couple of hours hiking, travel north on 9D for perhaps another mile and park just north of the tunnel. On the west side of the street at the tunnel a trail starts for Breakneck Ridge. Yes yes, that is a terrible, terrible name for a place to hike. But the place is not actually dangerous. The trail increases in elevation at a decent rate, in the form of large rocky step, so it is no more dangerous (or fun) than going up a long flight of stairs. The effort however is worth it when you reach the first lookout point, at about 700 feet. Truly stunning views! You won't be dissappointed! There are two ways to return, the way you came in down the "stairs" or a meandering trail which loses elevation less quickly but takes longer.