Looking for a spot in the Hudson Valley region where you can take a challenging yet extremely scenic hike? Do you want to follow that up with some scrumptious wings and other delicious food as your reward? Head to Bear Mountain State Park located in both Rockland and Orange Counties and the 4.5-mile Bear Mountain Loop Trail. And then after you hike Bear Mountain, head down the "goat trail" (aka Bear Mountain Bridge Road) to NY Firehouse Grille in Peekskill.

Established in 1910, within the 5,000-acre Bear Mountain State Park, you’ll find the 4.5-mile Bear Mountain Trail Loop. The trail begins right from Bear Mountain Inn and follows both the Major Welch Trail as well as the iconic Appalachian Trail. You can take the trail either clockwise or counterclockwise.

Give yourself at least three hours to complete this hike, which has a total elevation gain of over 1,200 feet. Just be aware that either way you choose, you will be encountering some physical challenges, which mostly involve rocks.

And also stairs. More than 1,000 of them to be exact. So the choice is, do you want to go up a majority of those stairs or head down them?

Note that many find the counter-clockwise direction (Major Welch to Appalachian) to be the easiest.

Throughout your trek, you’ll be welcomed with extensive views of the region. Check out the west side of the 315-mile-long Hudson River, Harriman State Park, the Bear Mountain Bridge, and many other gorgeous vistas and views.

Follow the red circle on white blazes that indicate the Major Welch Trail (if you are heading counterclockwise).

At the top, you’ll be greeted by Perkins Memorial Tower. Built in 1934, you can actually head inside if it’s open.

But no matter if you visit the tower or not, be sure to head to the rocky overlook at the summit and take in your grand prize. Wide open, uninterrupted views of the Hudson Valley. And on a clear day, way in the distance, you can make out the NYC skyline.

Once you've finished taking in those supreme views, you'll head back down to the inn where you started. As you make your way back, you’ll head away from the most likely very busy summit and back into the peaceful woods.

Be sure to follow the white blazes down, which indicate the Appalachian Trail.

Did we mention stairs and rocks?

There are unavoidable on the Bear Mountain Loop Trail, no matter which way you start and finish.

Whoops. Did we neglect to mention that you can get to this astonishingly beautiful spot by car?

Well, you can. But the reward of climbing it yourself and being able to take in copious viewpoints along the way only accessible by foot is well worth it. And you’ll feel better about yourself for the second part of this excursion.

Hike Bear Mountain for the day and worked up a big appetite? Located conveniently off of Route 9, you’ll find the New American restaurant known as NY Firehouse Grille. This local venue opened its doors in 1999.

Here, you can enjoy an appetizing lineup of both classic and non-traditional bar food and drinks. It’s a popular place to grab after-works drinks, catch a sporting event, or sit down with friends and family for a great meal.

The menu features an assortment of entrees, such as seafood, ribs, and various cuts of steak.

There are also over half a dozen different types of tacos.

Burgers are also big here, with an assortment of toppings and cheeses to choose from when building your own.

Or try a chicken sandwich, like the Kickin’ Chicken, which features breaded chicken with bacon, cheddar, pepper jack cheese, and bell peppers.

And don’t forget the assortment of a la carte sides. Add on tater tots, macaroni and cheese, and more.

Or go bigger and try one of their special fries appetizers, many of which use the same ingredients as other dishes served here.

But what we are really sending you here for are the wings. NY Firehouse Grille features some of the best in the area. In fact, there are more than 50 flavors to choose from.

Order in sets of 10, 20, or 30 with the choice of traditional or boneless. And if you are up for testing your heat tolerance, you can order the waiver wings. And sign the waiver.

There are over 200 miles of trails to explore within Bear Mountain State Park as well as a zoo, carousel, recreation on and around Hessian Lake, a pool, an ice skating rink, and dining. Be sure to check out the website for Bear Mountain State Park for the most up-to-date information on planning your visit. And stop by the website for NY Firehouse Grille to look at their menu options and hours of operation.

What’s your favorite hike and restaurant combo in New York? Tell us in the comments!

If you are looking for more after you hike Bear Mountain, check out what Harriman State Park has to offer you!