This is the main eastern entrance (with parking) to what was once a railroad bridge (built in 1889) crossing the Hudson. Today it's the world's longest pedestrian bridge – 1.28 miles – and a state park. The 212ft-high span provides breathtaking views along the river.
If you have time, there's a 3.6-mile loop walking trail you can follow across this bridge and back along the Mid-Hudson Bridge to Poughkeepsie.
There's also a free elevator that takes you straight up to the walkway at the river's edge, located in Upper Landing Park (83 N Water St). Note that the elevator opens at 9am and closes 90 minutes before the bridge does.