State Route 2001 begins at a blinker in Lehman Township, about 1 mile north of the Monroe/Pike County border. The road moves westward for a bit, turning towards the north to Milford at about 1 mile. Bushkill Falls Road becomes SR 2003, which goes on past Bushkill Falls, the Pocmont Resort and ending at Pennsylvania Route 402. A small local road, Broadhead Road, leaves to a sharp right soon after. Broadhead Road takes you to U.S. 209 going eastward. At this point, SR 2001 is in the Delaware Water Gap National Recreation Area, which is on the right side most of the route. Little Egypt Road leaves to the right a little later towards the Tom's Creek Picnic Area and U.S. 209. Big Egypt Road, the twin to Little Egypt, leaves to the right later heading for the same area. Briscoe Mountain Road comes in from the right and becomes Sunset Road.
Chesnut Ridge Road leaves to the right for U.S. 209 near Dingmans Ferry. Wilson Hill Road, Quadrant Route 2002, leaves to the right for U.S. 209. A short time after the intersection with Johnny Bee Road, SR 2001 leaves the Delaware Water Gap and moves towards Milford. Quadrant Route 2004, Silver Lake Road, crosses and extends to Pennsylvania Route 739 and Childs Park. Pennsylvania Route 739 crosses at a traffic light in the Dingmans Ferry Business District. A long time later, SR 2001 begins to traverse the border of the Delaware Water Gap. Quadrant Route 2006, Log Tavern Road, begins to the right soon after. Raymondskill Road, Quadrant Route 2009, crosses just southeast of Milford. After Christian Hill Road, SR 2001 becomes known as Water Street and soon Mill Street. SR 2001 ends at U.S. Route 6 in downtown Milford, 22 miles from Bushkill.
A portion of State Route 2001 was formerly known as Pennsylvania Route 962. The route followed the present SR 2001 southwest from US 6, but did not reach US 209 in Bushkill. In the 1993 Pike County maps, the road was given its current designation, State Route 2001. Route 2001 is only one of two roads in Pike County to be part of a former traffic route. The other route is Quadrant Route 1017, which was formerly Pennsylvania Route 963.