Congrats to Ovaron for the long awaited FTF!!
And thanks to WoodenNickel4U for introducing me to this very enjoyable area with your now archived caches.
Welcome to the Town of Haverstraw Canoe and Kayak Launch where you can put in within feet of of parking. Just be careful of the trash in the area, and beware of broken glass, especially near the trash cans. Here is the link to check the tides so you have at least 1.5 feet of water to paddle comfortably
https://tides.willyweather.com
You are looking for a metal bison hanging from a branch above the water, I recommend you turn left to get this one first. There's no need to navigate under the bridge.
Enjoy!!