Hudson River Expeditions has a number of kayak tours to choose from, like the Bannerman Castle Loop and the Garrison Landing Tour.
Park on the Highland side, which has an easier walk to the river and its views.
The easiest hike is the one that loops around the lake right near the parking lot – walk in either direction and make sure to stop along the way to take in the views.
The eight-mile round trip (don’t worry, there’s electric pedal assistance) will take you along the Esopus Creek and through the wooded Catskill Mountains.