Off the main dirt road there is a rail trail, and off of both those roads are nice singletrack trails. Some sections are steep and rocky (hence the name "Steep Rock"). Beginners will enjoy the rail trail and more adventerous riders will enjoy the many off shoots.
How to get there:
Go through New Milford to Washington Depot. When the Hickory Stick book shop is on your right, continue on for a little over a mile to the parking area for Steep Rock.