Most towns regulate the entrance of a driveway onto a town public right of way.  The primary reasons for this are to provide for safety (make sure there is adequate visibility) and drainage. 

The town clerk should be able to tell you the requirements for a town permit and will probably direct you to the town highway commissioner.  There are typically limitations as to degree of slope where the driveway meets the road as well as angle of intersection.  You might be required to provide drainage ditches or culverts.

The State regulates entrance onto a State highway.  You can contact the Agency of Transportation district office for permit applications and information.