After defeating the British at Princeton on January 3, 1777, George Washington marched his exhausted army north to Kingston, New Jersey. From a vantage point on the road above the bridge across the Millstone River, near the Presbyterian Church, the Commander-in-Chief and his top officers— Nathanael Greene, John Sullivan, Arthur St. Clair, Henry Knox, John Cadwalader, Thomas Mifflin, and Joseph Reed—held a council on horseback to quickly consider which option to take.
It came down to attacking the British supply base in New Brunswick or removing to secure winter quarters at Morristown. Washington took the advice of the majority, avoided a major conflict against the pursuing force led by General Cornwallis, and headed towards Rocky Hill and then Pluckemin in order to reach the safety of Morristown. Cornwallis abandoned his pursuit and continued north to New Brunswick. Thus, a prolonged war for independence was guaranteed and a chance for victory.
Resource: Section of: 1777: William Faden (1749–1836). “The Province of New Jersey, Divided into East and West, Commonly Called the Jerseys” ([London]: Wm. Faden, Charing Cross, December 1st, 1777) [Historic Maps Collection, purchased by the Friends of the Princeton University Library]. https://static-prod.lib.princeton.edu/njmaps/background/state_maps.html.