The Palisades are an awesome sight from the river. Here is a photograph I took from the Circle Line of the Englewood Cliffs area.
In New Jersey, Palisades State Park generally follows US Route 9W. There are overlooks in Englewood Cliffs, Tenefly, and Alpine. The highest part of the Palisades is located in Alpine. All the overlooks are well marked and located off US Route 9W.