I always wanted to do this trip when I lived near Yardley PA.
A couple of points about your trip.
Camping on the lower Delaware would seem to be tough. There is a really nice set of cabins you can rent through Bucks County at Towhickon Creek.
Take out spot. If you are going to go all that way you do need to run the wing dam slot at Lambertville and then Scudder Falls. There used to be a nice parking spot across from the Yardley Inn, about a mile south of Scudder falls, near River Road and Afton road in Yardley. The water used to be fine down to there.
Sport Cases (Electronics)
Hardshell Kayak Sail Rigs
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