This should be an easy hike. It features a fire-tower you can climb to get a view of the horizon. Here is a link to their website:
Although, the following hiking review provides better information about the trail:
Here is more information for getting there. Important, from the South, do not approach from Rt 9 through Rhinebeck as you will get greatly delayed by Dutchess County Fair traffic.
You can use this link to see a street view entrance to the Forest. Click on "Return to Map" in the lower left hand corner to return to a map where you can get driving directions.
Because of the Fair traffic, most should be approaching from the North. Here are two pictures showing the entrance on the right just before you get there and then from directly in front of the entrance.
Approaching the entrance on the right:
Directly in front: