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They say they can pick you up at the train station but I would make sure of it! The Enterprise at the airport says they have cars, but don't always so confirm before you get here!
Closest, decent car rental place. They will pick you up and drop you off from the train station. If this location doesn't work, you can try the one in Poughkeepsie as well.
Call ahead and we understand you can arrange to have a car waiting for you at the Beacon train station.