This is an outdoor art center, and a beautiful spot for a walk. It's not super close to Kingston, but is definitely an "on the way" recommendation for those driving up to Kingston from New York. (For fans of "Master of None", this is where Dev and Francesca frolic in the autumn leaves.)
A genuinely great Science Museum! Who doesn't love seeing the dinosaurs? The Hayden Planetarium is phenomenal too. Much like the Metropolitan Museum of Art, the Natural History Museum has a "suggested donation" entry fee, but you can pay as much or as little as you like.
Lincoln Center is beautiful to visit, but we also recommend checking out a show - the Center hosts the New York City Ballet, The Metropolitan Opera and the New York Philharmonic, as well as the American Ballet Theater from time to time.
(Formerly known as Neerob) This is where we had our first date - there aren't a lot of places in NYC where you can get food this good this cheaply. The Bengali food is amazing, and Premium Sweets and Restaurant (across the street) is really good too.