Start over the RFK (Tri-boro) Bridge (toll) bearing right toward Manhattan, to Harlem River Dr. to GW Bridge upper roadway, rt on Palisades, over to 9W when you leave Jersey and are back into NY. Follow 9W to turn for Bear Mountain State Park (a little past Tompkins Cove). Nice winding road to lookout tower at top of mountain. Back down left on 9W to Bear Mountain Bridge (you’re now on 6), right after bridge. After some twisties you get to a traffic circle; take 9 south. Whenever 9 and 9A diverge, stay to the left to avoid town traffic. 9A leads to the Taconic and after a short bit on that you get on the Bronx Pkwy (same as Bronx River Pkwy), a slower but nicer ride to the Bruckner and the RFK over to Queens. I think the whole ride is about 125 mi. Helps to have EZ pass. Enjoy!