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Take a right out of the Rodeway Inn parking lot and head north on US route 20
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Follow US-20 West (even though you are going North) through Lenox you will eventually be on Route 7 North and 20 West
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You will follow this road until you see the Wagon Wheel Inn on your right and the Yankee Inn on the left (if you are coming from either or these locations start your directions here, from the Yankee Inn go left out of the parking lot and from the Wagon Wheel take a right out of the parking lot)
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Continue on Route 7 and 20 toward Pittsfield
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Once you enter Pittsfield the road will still be Route 7 and 20 but will also be called South Street
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Take a left and continue on Route 20 West (do not follow Route 7) for approximately 6 miles and Hancock Shaker Village will be on your left.
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You will drive past the village to enter a long driveway at the end of which you will find plenty of parking.
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If you enter New York you have gone too far!