Atlantic Highlands Harbor, I think the moorings are run through the AH Yacht Club. There's various restaurants, a supermarket, laundry and a movie theater all within walking distance. A mooring comes with unlimited launch service and there's high speed ferryservice into various parts of NYC that leave from the West end of the harbor.
I stopped again in Port Washington last month. The town moorings are free for the first 48 hours, then $20/night which includes launch service. We didn't have a dinghy, so used the launch service which was $7 or $8 per person round trip. The launch will pickup/drop off at several places, including the dock by the grocery store. When I had a dinghy with a motor I used to anchor outside the mooring field--good holding.