The towns bordering LaGrange are Union Vale to the east, Beekman to the southeast, East Fishkill and Wappinger to the south, Poughkeepsie to the west, and Pleasant Valley to the north, with a small part of Washington also bordering LaGrange.

James Baird State Park, which provides a golf course, playground, sports fields, and hiking and cycling trails, is located in LaGrange along the Taconic Parkway.

The parkway also serves as an important commuter road for LaGrange, connecting the town to points south, including White Plains 51 miles (82 km) and New York City, 75 miles (121 km) to the south.

New York State Route 55 is an east–west road that goes through the center of the town; Arlington High School, the Freedom Plains United Presbyterian Church, and multiple shops and stores are located on a two-mile section of Route 55 in Freedom Plains, a hamlet of LaGrange.

In the summer and fall of 2014, three traffic circles were added to this stretch of Route 55 in Freedom Plains in an effort to ease congestion and also to beautify this part of LaGrange.

New York State Route 82 is a highway that goes southwest–northeast through the town, from Hopewell Junction to Moores Mills.

At the park, there is a small, spring-fed lake in which patrons are permitted to swim under the supervision of Red Cross-trained lifeguards.

Freedom Park also boasts a bandstand and a large, permanent, open-air pavilion; there is a small playground as well.