Van Campens Glen Trail (yellow blaze)
GPS 41.058163 -74.997726

This trail begins at Van Campens Glen Picnic Area and follows Van Campens Brook north 1 mile, crossing the brook just before a waterfall. The trail then climbs a staircase and continues 1/2 mile farther, crossing (not following) the dirt Cutoff Road to reach Watergate Recreation Site. Hiking north around the ponds at Watergate 1/2 mile leads to the dirt road to Millbrook. The trail climbs about 100 ft. per mile northbound.

Millbrook-Watergate Trail
Millbrook parking GPS 41.073683 -74.963117
Watergate Recreation Site (FEE) GPS 41.069001 -74.974704 
Van Campens parking GPS 41.058163 -74.997726

This 1/2-mile level stroll follows an old road south through Millbrook Village to Watergate Recreation Site. Parking at Millbrook Village is free. There is a parking fee at Watergate.

Donkeys Corners Trail (unblazed)
Millbrook parking GPS 41.073683 -74.963117

This unused dirt road continues the path of the dirt road through Millbrook Village northward another 2 miles to Blue Mt. Lakes Road. The trail is wide and easy to follow, for the most running parallel to Van Campens Brook. The terrain is generally flat, with a few rolls
Total: 2 miles one-way, 350 ft. climb

Upper Hamilton Ridge/Orchard Trails
Millbrook parking GPS 41.073683 -74.963117

Upper Hamiton Ridge Road begins at Old Mine Road 1/2 mile north of Millbrook Village and rejoins Old Mine Road 2 1/4 miles farther south near Van Campens Glen. The northern mile is flat with some old paving; the southern mile is dirt and drops 450 ft. southbound.
At the north end of Upper Hamilton Ridge Trail, Orchard Trail runs eastward 4/10 mile back to Old Mine Road. This is a difficult trail to follow down the hill. Ask at Millbrook for details.
At its southern end, Upper Hamilton Ridge Trail reaches Lower Hamilton Ridge Trail in a "T" intersection. Turn left to reach Van Campens Glen Picnic Area for a loop hike back to Millbrook Village.

Rattlesnake Swamp (orange blaze)
This mostly level loop begins on the access road to Catfish Fire Tower off Route 602. (This is also the white-blazed AT southbound.) Follow the AT (Hike 1) or the road to the tower, then continue southbound 1 1/2 miles more on the AT. At a very bare scenic outcrop, turn hard right off the AT and follow orange blazes 1/2 mile down the ridge. Just short of the grounds of Mohican Outdoor Center, turn north (right), following the southeast edge of the swamp back to the tower access road. The trail can be very wet alongside the swamp. Total 4 miles and 200 ft. climb.

More about the AT and its path through the park 
Mileage along the AT in New Jersey