As you're approaching The Palmer Estate (3781 Walbert Avenue, Allentown, PA) you will need to access the driveway directly from Walbert Ave. The location is across the street from the Asbury United Methodist Church, look for the balloons. See this URL on Google Maps for the exact driveway location - https://bit.ly/2Kp7E3q. Google Maps sometimes gets confused where the driveway starts.
Parking will be available across the street from The Palmer Estate at the Asbury United Methodist Church parking lot. The full address is - 1533 Springhouse Road, Allentown, PA 18104
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