Ulster Landing Park, Sojourner Truth Park

This is a medium sized town park on the Hudson, with a swimming beach and boat launch. There is a small picnic area, and what appear to be walking trails leading off from it.

Go straight after passing the entrance booth and you’ll come to the waterfront area where you’ll see the parking, picnic area, and restroom facilities. There were no lifeguards when we were there, though their website states that there are later in the season.