Darlene,
The trip from Jeffrey's Hook to Hudson-Athens will be about 150 miles one-way and about 3 1/2 hours travel time. You'd need to add on whatever time it will take you to get to the foot of the George Washington Bridge.
You will need to cross the river from the NYC side to the wesr shore after viewing Jeffrey's Hook the rest of the lights can be seen best from the Western shore of the Hudson.
The return trip should take less time- depending on where you are going to.
Jeffrey's Hook is one that you will have difficulty with- there isn't much parking near the trail to it and it's in an area that you might not feel comfortable walking down to.
Tarrytown is easily seen from the Tappan Zee Bridge and from several vantage points in Sleepy hollow (Tarrytown). It's in a county park and sometimes it's difficult for non-County residents to get into the park.
Stony Point is a short walk from the parking lot-probably 15 minutes one way. It's not open often though. Nice views of the hudson, though
Kingston -Roundout ccan be seen by walking down some old train tracks in a city park. It's about a 5-10 minute walk from where you park your car.
Esopus Meadows can be seen right off of a small- very small- park right on the river.
Saugerties can be walked out to- if the tide is cooperative. It takes about 5-10 minutes one way from the parking area.
Hudson -Athens can be seen from several vantage points on either side of the river.
Hope this helps.
For specifics on directions use this site- the directions there are very good- or use a GPS and put in the coordinates they give you there.
http://lighthousefriends.com/ Dennis