Looking for a classic fall getaway without leaving the Hudson Valley? New York Boat Company offers foliage cruises from Peekskill that combine colorful views, local history and wildlife sightings.

"This is one of the best ways to take in the Hudson River. And especially the fall foliage. It's just a beautiful, beautiful thing to see," said Capt. Austin Haase.

The company runs several cruises each weekend, including brunch cruises, history tours and seasonal foliage trips.

"We have a brunch cruise. History tours, focusing on Revolutionary War history in the area. Fall foliage cruise, just doing some leaf peeping with some light commentary," Haase said.

As the boat makes its way along the Hudson, passengers are treated to sweeping views of the Bear Mountain Bridge, Iona Island and the colorful Hudson Highlands.

The cruises also offer a chance to explore the region's past.

"Right now, we're adjacent to Iona Island, which was a naval weapons depot until the late 40s," said tour guide Bob Comegys. "A lot of Revolutionary War history that we talk about."

Wildlife sightings are another highlight.

"Bring your camera. Take your pictures. Bring your binoculars. We'll definitely see some bald eagles flying around this time of year," Comegys said.

Passengers can warm up with hot apple cider or grab snacks, beer, wine and cocktails while taking in the scenery.

For Comegys, the fall landscape never gets old.

"I don't think there's any place prettier in New York State. At this time of the year, when the leaves change, the Hudson Highlands, the 15-mile stretch of the river from Jones Point up to Newburgh, is just beautiful," he said.

Whether you're looking for a leisurely afternoon on the water, a history lesson or a chance to see the fall colors from a new perspective, the voyage offers a memorable way to experience one of New York's most scenic destinations.