South of Bear Mountain [1] is Stony Point Battlefield (Park Rd., off Rte. 9W, 845/786-2521, 10 a.m.–5 p.m. Wed.–Sat. and 1–5 p.m. Sun. Apr.–Oct., weekend parking $7), where the British army that was threatening West Point [2] was based in the summer of 1779.
Stony Point was captured by the Americans in a daring midnight raid led by General “Mad” Anthony Wayne. A tour of the battlefield takes visitors through a small interpretive museum, past the ruins of the British fortifications, and past the oldest lighthouse on the Hudson River. All around is beautiful countryside.
Stony Point is also home to 
Annie’s Restaurant (149 Rte. 9W, 845/942-1011). Since 1952, motorists have been coming to this drive-in, which serves its fast food in paper plates shaped like Chevy convertibles. The eatery is said to attract lots of bikers and soap-opera stars. Bruce Springsteen is also a fan.
Links:
[1] http://www.moon.com/destinations/new-york-state/the-hudson-valley/lower-hudson-valley/the-ramapo-mountains/bear-mountain-state-park
[2] http://www.moon.com/destinations/new-york-state/the-hudson-valley/lower-hudson-valley/west-point