You will see a historical marker near the free dirt parking lot that indicates that General George Washington marched his troops along this path to the Battle of Princeton. The launch point is somewhat hidden. From the parking lot you'll be presented with the D&R Canal trail, which you can go left or right. Go left and maybe 25 feet along the creek you'll descend a steep 8 feet trail to the water. Here you can drop in you boat.
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If you have any questions about this paddling location or have other relevant information that would be helpful to other paddlers, please add them as comments below for the entire community!