The shortest way would be to go from Annesville Circle in Peekskill and head west on Rt 6, which between Camp Smith and the Bear Mountain Bridge is known as the Goat Trail. It's quite narrow and winds around Anthony's Nose 400 feet above the Hudson, which is why it's known as the Goat Trail and which is why you shouldn't go this way if you're afraid of heights. The alternate route is to head north on Rt 9, left down Rt 403, left onto Rt 9D, then go to the Bear Mt Bridge. Once you're across the bridge, access the circle, keep right, and follow signs for West Point.
