Millersburg is a borough in the Harrisburg area of Pennsylvania.in dauphin county Understand Millersburg was founded in 1807. Get in Get around See Some of its landmarks are the canon gazebo and civil war monument. Do. go to riverfront park. myo park. seal park Buy Eat Wooden Nickel, 219 Market St, 40.539387°, -76.961577°, +1 717 692-3003. 11AM-10PM daily. Seafood, steaks, and pasta. 2016-11-29 Drink Sleep market street suit Go next halafax pa