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Where to go in NY, CT, MA,or VT????

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We live in the NYC area and next week I would like to take my daughter and my 2 year old grand daughter for a 3 or 4 day mini vacation. I would like some sort of beach either ocean or lake (so the baby can play) nice pool, shopping and a nice restaurant or two. I will drive up to 3 - 4 hours from Westchester. I know I don't want a large city. What do you think? Thanks.

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