Take the New York Thruway to Exit 16. (This is the Harriman Exit). As you exit you'll automatically be on New York Route 17, (The New York Quickway). Stay on Route 17 West to exit 104. This exit is Monticello Raceway - Raceway Road.
As you exit at 104 you will be automatically on Route 17B West. Follow 17B West into Callicoon, New York. (You’ll pass White Lake, turn right at the traffic light in Fosterdale, bear left, then turn left - all the while staying on 17B West into Callicoon).
As you enter Callicoon, you'll pass a large Coastal-Pontiac-GMC garage called Roche's Garage. Continue straight and go under the railroad trestle, then turn right up the very short "main" street of Callicoon. At the end of the street is a bank. Turn left at the bank, cross the bridge over the Delaware River, and continue straight for 9 miles to PA Route 191. Turn right on 191 (North) and continue 2 miles to camp.
Have a safe and pleasant trip and please drive safely!