Dear Ramshah,
I've lived in Piermont for 9 years (moved up here from Manhattan also), and I can honestly say it is the most wonderful little village I've ever known in the States. It's beautiful (ringed by mountains, state parks, a tidal creek, a skating pond, the majestic Hudson, and a 1,000-acre nature preserve along the water), multicultural (our best friend here is from near Mumbai), creative, fun, and not in ANY WAY a suburb (nor does it feel like one). Piermont is very much a village, with big-city sophistication, but with the kind of friendly small-town vibe that led us to Greenwich Village before we moved here. We have several some lovely playgrounds!
We also have several decent (and one extraordinary) restaurants, art galleries, shops, and a famous, small music club. The public schools here are indeed excellent.
As for seniors, there are several senior communities nearby, though not here. It sounds like your parents are far from old -- there is an impressive series of beautiful condos right along the Pier (a mile-long peninsula that juts into the Hudson), where several couples of all ages (including seniors) and families live.
When my wife (who is a chef) and I moved here, we had the same worries about being in "a suburb" and not finding likeminded people. We discovered to our astonishment, that we made MORE friends and found MORE likeminded people here than we did in NYC.
It should be pretty obvious that I love living here, and every single person I know who also lives in Piermont feels pretty much the same way. Why not drive up here and investigate?
If you'd like to correspond directly with me, feel free to do so via my website:
www.marcfarre.com.
Good luck!
PS: Nyack is also wonderful, though a bit bigger and noisier.