FYI, the Rondout Creek extends 3 and a half miles from the Kingston Point lighthouse to the head of navigation at the dam in Eddyville. The Rondout Yacht Basin is the biggest and best facility on the creek, with pool, pumpout, gas, many docks, and a Tiki Hut for lunch. I believe there also are shuttles available to the town dock across the creek. The town dock itself is right in town, and is more spartan, but is right next to all the restaurants, and there's EVERYTHING to eat on the Rondout waterfront...
And we've got PT boats, too! (check out "Fleet Obsolete"). And fireboats, tug boats, the Maritime Museum, and charterboats...
If you're really feeling adventurous, head up the creek nearly two miles further from the Rondout Yacht Basin, and eventually you end up in one of the most secluded "gunkholes" on the entire Hudson, one with marine facilities and places to eat to boot. An RO above recommended Rondout Bay - I'm glad he had a good time there, the owner is a nice fellow. Personally my tastes run more along the lines of the neighboring Anchorage Marina and Restaurant, which is where I keep my boats. There is also an ice cream parlor across the street! Or you can just anchor out like many people do and enjoy the rustic environment, swim right off your boat, catch a big large or smallmouth bass or nice catfish, or watch the sunset over the nearby hills. For history buffs, Lock #1 of the old Delaware and Hudson Canal still exists and is located in someone's front yard, across the street from the Anchorage Restaurant (hence the name "canal street")...
Oh, and to be accurate, Rondout IS in fact a little south of Kingston. The city of Kingston is NOT convenient to the creek by boat. You need a taxi or a friend with a car to get there, 'cause its several miles away up big hills. The Rondout/Port Ewen/Connelly/Eddyville "metroplex" (yeah, right

) is what lines the Rondout Creek shoreline...