Delaware River Scenic Drive begins in Morrisville PA, northeast of Philadelphia on the Delaware River and Route 1. A more direct route is to start at the town of Washington Crossing, north of Philadelphia in Bucks County PA, at the intersection of Route 32 and 532 on the bank of the Delaware River.
From Washington Crossing, follow Route 32 along the river to Kintnersville PA, then Route 611 north through Easton to Delaware Water Gap at the south end of the park.
Or, for some more adventurous terrain...
If northbound on Route 611, as Route 611 turns inland from the river at Martins Creek PA, bear right off Route 611. If southbound, continue straight after the traffic light in Portland PA to pass the Portland Power Plant. This byway along the river passes through one of the most natural and out-of-the-way sections of the Lower Delaware Valley. Keep your map handy, as you may need to navigate from one village to the next. Drive carefully, and enjoy the Delaware.