The Town of Esopus is located on Munsee Lenape land in Ulster County and the Hudson Valley of New York State. It borders the Hudson and Wallkill Rivers, the Rondout Creek, the City of Kingston, and the towns of Rosendale, New Paltz and Lloyd. According to the 2020 census, there are 9,548 inhabitants spread across about 42 square miles.
The town of Esopus was formed in 1811. Its name means “high banks” in the language of the local Esopus indigenous people who originally populated the area. Esopus has eleven hamlets: Connelly, Dashville, Esopus, New Salem, Port Ewen, Rifton, St. Remy, Sleightsburgh, Ulster Park, Union Center and West Park.