Fishing private waters?

[basspilot]

I have wanted to fish a particular lake for a few years that is unfortunately private. What I am wondering though is if you can launch on public land and paddle into the private lake. This lake actually does have a canal with access about a mile or so away. I know that on the Ramapo there is a similar situation where peoples property lines actually go into the river, but the loop hole so to speak is that as long as nothing touches the ground or you beach your boat you are not breaking any type of laws. Does this also apply to private lakes? Any info would be greatly appreciated. You could PM me as well if you'd like.