Harlem River Drive is a 4.20-mile (6.76 km) controlled-access parkway in the New York City borough of Manhattan. It runs along the west bank of the Harlem River from the Triborough Bridge in East Harlem to 10th Avenue in Inwood, where the parkway ends and the road continues northwest as Dyckman Street. South of the Triborough Bridge, the parkway continues toward lower Manhattan as FDR Drive. All of Harlem River Drive is designated New York State Route 907P (NY 907P), an unsigned reference route.

The majority of parkways in the US state of New York are part of a statewide parkway system owned by several public and private agencies but mostly maintained by the New York State Department of Transportation (NYSDOT). A handful of other roads in the Hudson Valley and on Long Island are also known as parkways but are not part of the state system. The roads of the state parkway system were among the first expressways to be constructed. These highways were not divided and allowed no driveway cuts, but did have intersections for some of the streets they crossed. A small section of the privately financed Long Island Motor Parkway was the first expressway to begin operation as a toll road and the first highway to use bridges and overpasses to eliminate intersections.