Be aware that during the week parking may be tough on the "campus" area. You need a sticker to park in those areas on weekdays. Also, you need to download the LiveSafe app or drive through the Stoney Lonesome gate.
Drive down to South Dock. You can loop around. This is where the ferry service operates and has a nice view of the Hudson.
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As written above, drive over to Trophy Point. One parent may need to stay with the car. If it's a weekend, feel free to park and leave the car.
Drive over to North Dock and around Shea Stadium. You will have to drive back up Howard Road to the "main area" as Ruger Road is under construction. Drive down to the West Point Cemetary. You can park in front of the Starbucks/Subway.
Drive up to the Cadet Chapel. I'm not sure if it's open, but you can check.
Drive up Stoney Lonesome past Michie Stadium to the PX area.