Yes. For the main park and zoo you will have to pay $10 for parking but for perkins mountain scenic view it is free to park. This is where you can climb up the tower and view the hudson valley from arguably one of the best views in the area.
There's a plenty big parking lot unless it's a holiday. There is a $10 parking fee.
No entrance fee. Some parking areas, but just park on the side of the road with the rest of the cars
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