From Route 9 near Cold Spring, NY turn right onto Route 301. After about 2.8 miles you’ll see a trailhead marker on the left side of the road. It’s marked Charcoal Burners. Follow the red (charcoal burners) trail for about 20 minutes until you come to the white (cabot trail) markers by a cairn on the left. Follow this until you get to Jordan Pond: a very pleasant and tranquil spot. Continue along the white trail until you come to a clearing. Turn left and very shortly after you’ll see the yellow trail go off to the left. Follow it back to where you parked. It took me somewhere between 1 1/2 to 2 hours.

More detailed directions (complete with pictures) can be found on the Hike the Hudson Valley site, a great site with information, at the time of writing this, on 59 hikes. Very useful.