Travel
Flight
Newark Liberty International Airport (EWR)
Direct AirTrain + NJ Transit connection to Penn Station (about 30-40 minutes total). No need to transfer between subway lines like from JFK. Often has competitive flight options, especially for domestic and international routes.
Flight
JFK Airpot
You can take the AirTrain to Jamaica Station, then LIRR (Long Island Rail Road) to Penn Station. Takes about 50–60 minutes total. A little more transferring than from Newark, but still fairly direct.
Rental Car
Turo or Costco Car Rental
If you are thinking of renting cars, Turo (an Airbnb-type app for renting cars) or Costco Car Rental are usually more affordable than normal car rental companies. However, you can also do Hertz, Budget, Thrifty, etc.
Hotel
Airbnb
Airbnb can be a great option for groups, much more economic - look in Kerhonkson area.
Hotel
Stonehill's Farmhouse
Hotel
Starlite Motel
Hotel
Pinegrove Resort
Hotel
Hudson Valley Resort & Spa
Hotel