You can take a 10-minute ferry ride from Newburgh across the Hudson to meet the morning trains at the Metro North station in Beacon, and take it back in the evening.
Morning ferries start at 5:36 to meet the 5:52 train. For details, see the MTA website.
The ride costs $1.75, and monthly discounts are offered when purchased as part of a MetroNorth ticket for the same period. Parking on the Newburgh side is free.
Ferry service resumed on October 17, 2005, forty-two years after it stopped in 1963, when the Newburgh-Beacon Bridge opened.