Follow Route 128 North to Gloucester. In Gloucester you will come upon 2 rotaries.
Travel note about Interstate 95 and Route 128:
Routes 128 and 95 are the same highway from southern Massachusetts until Peabody, MA. In Peabody Route 95 branches off to the right toward New Hampshire and Maine.
When traveling north on Interstate 95/Route 128, you must stay on Route 128 by keeping to the left at this point as this is exit #45.
Commuter Rail trains to Rockport leave regularly from Boston's North Station. Once in Rockport, you are a 5-10 minute walk from downtown and the Atlantic ocean.