First drive north on I-95 to Baltimore. From there you have two options: (1) get on I-83 northbound to York, PA and then pick up Rte. 30 east to Lancaster. (2) continue on I-95 north past Baltimore to Rte. 222 north, and take that to Rte. 272 north to Lancaster. The first way is probably a little faster, the second way is a little more scenic.
Use Google Maps to figure out your route--it is very easy. Just type Lancaster, PA into Google and click on the map that comes up in the results. From there you can click on "get directions" and then type in your starting point.
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