Minnawaska Lake and Park – Only 20 minutes away. Located in Ulster County, NY Minnewaska State Park Preserve is situated on the dramatic Shawangunk Mountain ridge, which rises more than 2,000 feet above sea level and is surrounded by rugged, rocky terrain. The park features numerous waterfalls, three crystalline sky lakes, dense hardwood forests, incising sheer cliffs and ledges opening to beautiful views, clear streams cut into valleys, world-class rock climbing and 35 miles of carriageways and 25 miles of footpaths on which to bike, walk, hike and simply enjoy.