The Point of Gap Overlook is on the Pennsylvania side on PA-611 between the towns of Delaware Water Gap and Portland. There is a large parking lot and a gazebo with a view of the Gap (mainly Mt. Tammany). PA-611 is in the foreground and I-80 in the background.
On the Pennsylvania side just south of the town, Delaware Water Gap, there is a pullover called the Resort Point Overlook on PA-611. It is a good place to get a view of the I-80 bridge across the Delaware River and the exit to the Kittatinny Point Visitor Center on the New Jersey side. The video also shows the way you get to Old Mine Road by going under the bridge.