This route has been discussed several times here (search in Routes and Roads section). In short, get over to I-81 and take that to Scranton PA to pick up I-84. I would do I-95 until north of Fredricksburg VA and take US17/US50 over to Winchester VA to pick up I-81 to I-84.
You can take I-84 to I-90/Mass Pike, but that's a toll road. To completely miss all tolls, take I-84 into CT to pick up I-691 just west of Waterbury. Continue on CT66 to Middletown and then pick up CT9 to Old Lyme where you can reconnect to I-95. I have taken this route with a motor home and it's an easy route with not much traffic until Providence. At Providence you can continue up I-95 to I-495 north 1 exit get you to Normandy Farms. It adds about 45 minutes to this trip, but you bypass Hartford and the Mass Pike tolls. Be aware that since your last trip, they have removed all toll booths from the Mass Pike and are doing EZPass and licence plate tolling.
