CloudDriver's route description is the way I would go. The only change I might consider would be taking something like the Garden State Parkway to Rt 17 to I-87 and there north; Google suggests it's the same time but a few miles shorter...but I suspect I-287 would be easier going and probably better all things considered.
There's no practical way to avoid the congestion around Lake George and especially the outlet shops; luckily the worst of it is not a long stretch of road, maybe a quarter mile.