Beak & Skiff has wagons that go out to the orchard where you can pick apples straight from the tree. Once finished, you grab a wagon to get back to the farm and they charge you by the weight of your bag, which typically is about 8 bucks if I remember right.
The farm store has food, sauces and pastries. And their apple winery is a mile down the road for those who like cider/white wine. And of course its very scenic out there. They are open daily and the times are:
Farm Store: 10 am to 6 pm
Pick-Your-Own: 10 am to 5 pm
Winery: 10 am to 5 pm
Distillery: 10 am to 5 pm
Its actually fun, I promise and not too far with only a 20 minute drive. I'm thinking a Saturday late Sept or Early Oct. If I can get a few likes and date suggestions I'll host.