Will be going to see Bruce Springsteen on Giants Stadium on the 2.Oct. Have decided to take my parents, wife and 4 year old son for a little adventure.
Will be landing in Newark the 26.Sept in the afternoon and pick up a rental car. We have decided to drive max 2-3 hours the first day. We shall be back in NYC Tuesday the 29.Sept where I have booked a hotel near Times Square.
Now I need to find out where to go these 3 days. My parents and I have already seen Niagara Falls but my wife and son hasn´t.
Any suggestions on where to go? North, south or West? We like hiking and nature but also a good dinner. Of course we have to take in consideration that we bring our son.
So, I need suggestions on where to go and where to stay.

Morten/Denmark

Niagara Falls is a much longer drive than 3 hours. You might consider the mid-Hudson Valley (New Paltz, Mohonk Mountain House, Rhinebeck, Hyde Park, the Catskills, The Culinary Institute of America, Dia Beacon, Olana, etc.)

A nice selection of hiking, nature and good food and sights.

Niagara Falls in about 7 hours from EWR. Agree there's a lot to see/do in the Hudson Valley - but I would not head to the CIA with a 4 year old. In fact, many inns/B&Bs won;t take kids that young, so you're probably better with a tradtiional hotel.

The other thought would be to head in the opposite direction and visit Cape May or something like that.

(Although the Hudson Valley is a very good suggestion too.)

Thank you for your replies.
The 3 hour drive was only the first day. We will be spending a total of 3 nights before heading back to the City. If we will go to Niagara it means:

Day 1 Newark-? (Max 3-4 hours)
Day 2 ?-Niagara
Day 3 Niagara-?
Day 4 Arriving in NYC

Please keep the good advises coming

If you are set on Niagara, it can be done, but a lot of driving over three days. You might consider Cooperstown as an overnight stay in one direction, and maybe Ithaca in the return direction. Both interesting smallish town in Upstate New York.