There are some parking areas-at the marina, near the playground... Free as far as I know. There may be fee for touring historic mansion but grounds are open
The Mills Memorial State park in Staatsburgh has free parking (dirt lot) near the mansion that rarely gets full, and all the exterior grounds and miles of paths are also free. There's also a seasonal public bathroom down near the river and a view of the Catskills.
Is the ground free of fees?
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