That sounds like a great trip. My son and I made a similar trip this summer leaving Patchogue Long Island traveling up to Albany, in his 21' boat. We traveled to the FI Inlet and took the ocean striaght into Manhattan taking us exactly 3hrs. We made our first stop at Liberty Landing Marina due to a terrible rain storm then took the ferry to Manhattan and went to Little Italy for dinner, then hung out in the city all night. The next day we made it all the way to Albany, then back tracked down to Catskill for the evening. The following day we traveled back down the Hudson around lower Manhattan and up the East River thru Hells Gate out to Mount Sinai ( 1 mile from my house). Following day we traveled to Greenport for the day, then back home. We traveled 470 miles in 5 days and had the time of our lives.
The chart I used was a West Marine 'Hudson River & NY Harbor' covering Sandy Hook to the Troy Lock. The chart also lists all facilities and marinas including phone numbers. The Hudson is very easy to navigate with plenty of deep water and well marked channels, but the commercial traffic can take a bit getting used to around lower Manhattan as well as floating debris.
