McKinley's and Penelope's are basically one and the same place - McKinley's is the bar in the basement, Penelope's is the restaurant up above. It's located right in the center of town, you can't miss it. Ask any local for directions.
McKinley's is a nice pub, the locals are very friendly and the local microbrews they have on tap are fresh. Nice place to pass an eveing having a small bite and a few drinks.
If you're in the area before 5pm, then Penelope's is your only choice, as McKinley's doesn't open until then. But it's just as nice. Good food and essentially the same friendly staff that you'll run into downstairs. Prices are pretty reasonable too.
If you just want to relax for a bit, visit Saxtons River, a small town in the hills outside of Springfield, VT. It's a small quiet and sleepy town where not much goes on, so it's perfect for relaxation. There's a B&B and an inn to stay at, a couple of places to grab a bite, and that's about it. But it's very picturesque and quaint. Try the sandwiches at the local general store, they're very good.