Bookmark my free Interactive GPS Map for your phone:
https://andyarthur.org/ny

... shows your location as a blue dot in relationship to campsites, trails, state land. This online map requires cell service, won't work in remote country, so also bring a paper map.

Free Download of New & Historical USGS 1:24k Topograpic Maps

Interactive maps with backcountry and roadside camping: New York, Pennsylvania, West Virginia & Vermont. List of NYS DEC Lean-Tos and Firetowers.

Google Spreadsheet with Roadside, Primitive and Pay Campsites

More about Lafayetteville Multiple Use Area...

Lafayetteville Multiple Use Area consists of 715 acres in the Town of Milan, Dutchess County. This area has both fields and forests and is regularly stocked with pheasants during hunting season.

http://www.dec.ny.gov/lands/96643.html

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