A bridge over a gently flowing stream is always a pleasant destination. Choose one of the two hikes to visit two bridges which were built by the Friends of FDR, an Eagle Project, and the New York-New Jersey Trail Conference.
From the Taconic State Parkway, take the FDR State Park Exit 16 [41.284528, -71.816886]. There is a daily entrance fee in season and on weekends during the spring and fall. Get an Empire State Passport. From the park entrance road keep right and follow the the signs to the swimming pool parking area. The trailhead is on eastern edge of the parking lot just south of the entrance/exit split. Look for a bench and white trail markers on a post.
For the alternate hike, take Baldwin Road Exit 14, from the Taconic State Parkwary and turn east. At the triangle intersection, bear left onto Mohansic Avenue East. The road bends right at the junction with Old Mohansic Avenue East (gated) [41.271991, -73.802436] where there is free, very limited roadside parking. Don't block the gate. Use the alternative hike description.
From FDR State Park's swimming pool parking lot, look for a bench on the east side, near a post with white tag blazes. Walk down the woods road and at a broad intersection in 0.2 mile, turn right onto the Crom Pond Trail. Crom means crooked in Dutch. Head down the stone steps. In 0.3 mile, turn right onto a narrow path. Cross a 70' long board walk in the wetlands, turn left to cross a stone wall and a short board walk. The path reaches a bridge built thanks to an Eagle project and east side of the bridge has a ramp that hugs the side of a large rock.