I left Penn Station around 8 45 in the morning and arrived at the ferry terminal at 11 15am. The ferry only takes 20 minutes and is a beautiful ride.
The hamlet of Kimset is a lovely small community with narrow streets and no car access. All the locals ride bikes and it is only a 10 minute walk from the ferry terminal to the beach.
To get to the Lighthouse is a bit of a treck but definitely worth the effort. If you walk along the beach from Kimset, you will walk through a nudist section, which was quite a surprise. There is a road if you want to avoid the naked sunbathers.
To get up to the Lighthouse you need to take the internal stairs, which are easily walked by people of all ages. The views across Fire Island are amazing from the top. Robert Moses Beach is shown with the large parking area behind.
I finished up my day with a beer at one of the bars back at the Harbor and then caught the 5 15 ferry back to Bay Shore followed by the 5 45 train back to Penn Station. I look forward to going back again next summer.