Here are some nice catering options for you to choose from that we have used.  Or feel free to use your favorite caterer.  

Jacques Exclusive Catering

They have a lot to offer and deliver to the boats.  They can set up the food and provide a server if needed.

et al Fine food 

A fancier elegant option for you and your guests.  They deliver to the boats.
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Classic Boat Rides Charters and Cruises aboard the Navesink Queen and Mariner. Sailing from Atlantic Highlands New Jersey with Capt. Dan and First Mate Vicky.