Car Route up Hudson Valley
 

We are renting as car from MidTown to drive up the Hudson Valley for a day and a half. Would like clear directions on how to get out of the city and onto a scenic route to the Rockefellar estate. Thanks so much!

The scenic routes really don't start until after Kykuit (the Rockefeller estate). The best driving route is take the Henry Hudson Parkway which leads directly into the Saw Mill River Parkway. Take the exit (I think it's Exit 22--if not it's close to that number) for Route 119 Tarrytown. Follow Route 119 to the end and take a right at Route 9. Follow Route 9 for a couple miles through Tarrytown until you get to Phillipsburg Manor on the right (It's a old restoration on the left side of the road opposite the Old Dutch Church and Cemetery.) The tour of Kykuit starts there. I would recommend taking the combined tour of the mansion and the grounds.
To continue northward in the Hudson Valley, take Route 9 north past Peekskill to Route 6 west, which is, in part, a beautiful ride through the mountains overlooking the Hudson. Go over the Bear Mountain Bridge and take Route 9D. I think it's the most scenic road in the area. The Boscobel Estate is a good place to stop along Route 9D.
For more info on the area, check these two websites:
http://hudsonvalley.org
http://hvnet.com

FYI in midtown its actually the West Side Highway - it doesn't turn into the Henry Hudson parkway (I believe) until you pass under the GWB.

Sorry, I assumed that the original poster knew that part of the trip!

HowardR's directions are good. After going over the Bear Mouuntain Bridge consider a visit to West Point, If you intend to visit Hyde Park you have to cross back over the river at Poughkeepsie. In midtown the street signs read 12th Avenue and that is the West Side Highway. It also has a highway designation - 9A. Don't worry about finding it - just go west on any street in midtown until you can go no further. That is 12th Ave.

One alternate scenic route is to cross-over the George Washington Bridge to New Jersey and get onto the Palisades Parkway North (Route 9W).

You can take that road to Bear Mountain State Park, connect with Route 202 East and cross the Bear Mountain Bridge, then pick-up some of the other suggested routes/itineraries.

An amendment to my previous note. Take any westbound street from 42nd to 57th, with the exception of 53rd, to get to the West Side Highway (12th Ave.,). Make a right on 12th avenue.