New Paltz

This vibrant college town has a family-friendly, walk-able village with many shops and restaurants.  Through it runs the "Rail Trail" for walking and biking.  New Paltz is also a gateway to recreation in the Gunks (Shawangunk Mountains) at Mohonk Mountain House and the Mohonk Preserve.  Stop at The Bistro for breakfast and then browse at Waterstreet Market, the lovely outdoor pedestrian mall.

From Wikipedia:

The population was 14,003 at the 2010 census. The town is located in the southeastern part of the county and is south of Kingston. New Paltz contains a village also with the name New Paltz. The name of the town is derived from Palz (pronounced: [palts]), the German dialect name of the Rhenish Palatinate, now a region of Germany called "Pfalz" (pronounced: [Pfalts]).

Due to the presence of what is now the State University of New York at New Paltz, it has been a college town for over 150 years.

The Town of New Paltz was founded in 1678 by French Huguenots by both patent from the governor and purchase from the local Esopus tribe of the Lenape people. The Huguenots were religious refugees who had immigrated via Mannheim in the German Palatinate, where they had settled after fleeing France during religious persecution. They settled in the area of the present-day village of New Paltz (on what is now known as Huguenot Street Historic District) and established their own local government.

The size of the Town increased with annexation from surrounding regions in 1775 and 1809. In 1842, part of New Paltz was removed to form the Town of Esopus. More of New Paltz was removed in order to form the Towns of Rosendale (1844), Lloyd (1845), and Gardiner (1853).