The Town of Pembroke is located in south central New Hampshire, adjacent to Concord, the state capital. Pembroke is located within easy reach of all of New England, as well as the Mid-Atlantic States.

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Pembroke has easy access to all of New Hampshire. The town is bisected by Route 3, a major north-south connector road, providing easy access to Concord and Manchester. Route 106 is a major access route to Laconia and all of the Lakes Region of central New Hampshire. Route 28 provides access to the coast of New Hampshire via Route 4.