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If I want a quick fix sometimes I'll go out to the Delaware Water Gap and hike up Mt. Tammany. Sunfish pond, Dunnfield Creek, Appalacian Trail, lots to do.
There's also the Shawangunks or the 'Gunks (a bit more of a drive) if you're into climbing or just nice overlooks, Blue Mtn Reservation if you're into Mtn Biking, Harriman State Park (West Mountain Shelter is a nice hike), lots of smaller parks. Depends on what you're into.
Take one of the guided excursions with a park ranger.
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