Liberty State Park - Jersey City
Parking and launch access are free. There can be a good deal of boat traffic on the river, especially ferries, but if you are careful, you can paddle around the Statue of Liberty and Ellis Island. The museum in the old railroad/ferry terminal is another point of interest.
Both islands have landings, but I wouldn't try to use them! The marina is the outlet of the long-gone Morris Canal. Just a few small bits of the canal still hold water in Sussex County. Finally, remember you are in the Hudson River, and may end up dealing with a strong current, especially if the tide is out-going.
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