From Kittatinny Point NJ

Turn right out of the visitor center parking lot. Bear left, following signs to Interstate 80 west. Cross the toll bridge (EZPass accepted) and stay to the right at the toll plaza and immediately take PA Exit 310. Follow signs to Route 611 south down a circular ramp. At the traffic light at the end of the ramp, turn right. This is Broad Street.

At the next light in the village, turn left onto Route 611 south. 
For the overlooks, continue straight on Route 611 south.
For Mt. Minsi and Lake Lenape parking area (the AT), continue a few blocks in the village and look for the Deerhead Inn on the right. Turn right at the Inn onto Mountain Road. Take the next dirt road on the left into the trailhead parking area.

From Interstate 80 westbound from New York and New Jersey

Cross the toll bridge (EZPass accepted) into Pennsylvania and stay to the right at the toll booth and immediately take PA Exit 310. Follow signs for Route 611 south down a circular ramp. At the end of the ramp, turn right. This is Broad Street.

Follow directions above as from Kittatinny Point NJ.

OR, for more scenery:

From Interstate 80 westbound, take New Jersey Exit 4B and follow signs to Portalnd PA. Cross the small toll bridge (EZPass accepted) and immediately take the exit to the right to Portland. At the end of the ramp turn left on Route 611 north and into the town of Portland PA (shops, eateries, free pedestrian bridge across the river back to New Jersey). The three river overlooks in the park are along the 4 miles of Route 611 north from Portland PA to Delaware Water Gap PA.

Rt. 611 and the scenic route to the park
from the Lower Delaware and Philadelphia

From Interstate 80 eastbound from Pennsylvania

Take PA Exit 310. At the traffic light at the end of the ramp, continue straight. This is Broad Street.

At the next light in the village, turn left onto Route 611 south. 
For the overlooks, continue straight on Route 611 south.
For Mt. Minsi and Lake Lenape parking area (the AT), continue a few blocks in the village and look for the Deerhead Inn on the right. Turn right at the Inn onto Mountain Road. Take the next left into the trailhead parking area.

From the Pennsylvania side of the park

From Headquarters, turn left onto River Road. at the traffic light at theend of River Road, turn left. This is Broad Street. Follow directions above as from Interstate 80 eastbound.

From Route 209 in Pennsylvania, follow Route 209 (not Route 209 Business) to Interstate 80. Take I-80 eastbound one mile to Exit 310 and follow directions above as from Interstate 80 eastbound.