Riverside Dr.
R W.155th St.
L W.158th St.[up R.D.ramp ]
R W.162nd St.
L Ft.Washington Ave.
L W.177 th St.
R Cabrini Blvd.
L GW Bridge

A simpler way is to go right on 165th from Riverside and left on Ft. Washington, the first light at the top of the hill.

After you cross the bridge, go left on Hudson Terrace. Bear right where the road splits, go left at the stop sign, down the hill, and left onto River Road and into Palisades Park. This last part is tricky b/c you're on a steep downhill and you have to make a left, and there's often lots of traffic coming uphill. So be careful.