Visitors have been coming to the Milford, Pike County and the Delaware River Highlands for rest and relaxation for many years.

Milford was one of the first areas in America to develop as a tourist destination. In the second quarter of the 19th century, when a "resort class" emerged in the young nation, tourist destinations developed along the Jersey Shore, on Long Island, Cape Cod and other seaside communities.

Inland, the destinations followed the trains, up north along the Hudson and as far west as Port Jervis, New York, which was the last stop going west on that line. In Port Jervis, visitors would get off the train and onto a stagecoach, travel downriver to the first stop (Milford) and voila, they were in the country. The last stagecoach to carry passengers from the train in Port Jervis to Milford is the Hiawatha Coach, which is now on display in the port-cochere of the Pike County Historical Society's Columns Museum.

By the time of the Civil War, the immediate Milford area offered lodging for several thousand visitors who came to enjoy the fresh air and beautiful natural environment. Today the region still enjoys a pristine environment with vast forests well-populated with black bear, deer, otter, beaver, fox, wild turkey a large nesting of bald eagles and abundant trout, bass, shad and other fish in our streams and rivers.

In every season the area is filled with excitement, relaxation and fun that will fit anyone’s lifestyle. There are miles and miles of scenic drives, isolated country roads ripe for exploration and charming small towns and villages.

Pennsylvania's Route 6, which begins at Matamoras and runs through Milford and continues west through Pike County towards Hawley and Honesdale, in Wayne County, is designated a national recreational automobile and bike route. Route 209 also has many incredible sites to see, traversing the extraordinarily scenic 35 mile length of the Delaware Water Gap National Recreation Area, on the Pennsylvania side, then from Milford to Matamoras, where it crosses into New York State.