NOTE: The Bayshore Trail is currently closed due to storm damage (as of August 2013). See the Monmouth County Park System website for information on the repair work.
The 2-mile Bayshore Trail is known as the Atlantic Highlands segment of the Henry Hudson Trail. It extends from the marina on 1st Avenue in Atlantic Highlands to the end of Bayside Drive in Highlands, following an abandoned rail corridor along a steep, forested hillside. Sandy Hook Bay is on the north, making this trail, although short, a scenic little exploration.
The Bayshore Trail doesn't connect directly with the Henry Hudson Trail; to do that, you must pass through residential streets for just under a mile. From the west end of the Bayshore Trail, head west on Bay Avenue and turn left on D Avenue to a right on Kennedy Court. If you go under Rt 36, you've gone too far.
The Bayshore Trail is paved on the west end in Atlantic Highlands. On the east end, however, the surface is hard-packed cinder and sand. From the Highlands end, you can follow the streets about 1.5 miles to the Sandy Hook Bike Path (coming soon to TrailLink.com).
Parking access for the Bayshore Trail is available in Atlantic Highlands on 1st Street by the marina. In Highlands the path ends at Bayside Drive near the town's shopping district, where you'll find plenty of nearby parking.