Kingston has a few spots, the dock in front of the museum and the town marina; we loved spending a few days there. Not free though if that's what you are looking for. You used to be able to go a little further up to the end of navigation on the creek and anchor, but it may be filled with moorings and locals now. Catskill is another pretty marina and little town.
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George
"There's the Right Way, the Wrong Way, and what some guy says he's gotten away with"
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