There is a great museum in the Upper East Side, not far from my residence called the Museum of the City of New York. It is one of my favorite museums in the city and everyone under the age of 19 can get in for free. One of my favorite exhibits is the one on the right side of the first floor. It has a bunch of information about the history of the city as well as some very old artifacts from when people first began settling there. The museum overall has 3 floors and it would take someone days to explore the whole place adequately.
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