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Originally Posted by William_Philipp
... My friend said there were areas that you can take your boat and drive up to them and camp right there, ...
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There is no boat mooring at Ellacoya state park.
There may be others, but Paugus Bay Campground is the only campground that has boating access of which I am aware. The boating access is in Moultons Cove at the north end of Paugus Bay. Boat access requires navigation under a narrow, not-too-high, railroad bridge.
If you mean sleeping on you boat, Fays boat yard has some mooring spots. Their fee includes a shuttle service to the mainland.