Past the Baldwin Road exit a half mile () north of Underhill, the Taconic curves westward along the south side of Mohansic Lake. When the road returns to a northerly course, an exit allows entrance to Franklin D. Roosevelt State Park. It is followed by the Crompond Road (U.S. Route 202 or US 202 and NY 35) exit, which serves Peekskill to the west as well as Yorktown. Just beyond it Bear Mountain Parkway, a legacy of the Taconic's original planned route and purpose, leaves to the west as the road drops into a wide valley carved by a tributary of the Hudson, the first place where the road begins to respond to the increasing relief of the landscape.