I drove to eastern PA and back from Charlotte once via I-81. It was still busy, but more scenic and less stressful than I-95. Just before Martinburg, WV I got off 81 and headed into Shepardstown and Harpers Ferry. Harpers Ferry National Historical Park is well worth the visit to learn about the history of this country, specifically the Underground Railroad and the fight of noble Americans to end slavery and ensure the promise of liberty and justice for all. Look for accommodations and dining in Shepardstown or nearby Charles Town.