"December 23, 1776 On orders from General Washington to pull Hessian troops southward from positions of support near Trenton, 600 Americans, stationed at Mount Holly under Colonel Samuel Griffin, attacked a Hessian outpost here on December 21. When the 3,000 Hessians quartered in Burlington County retaliated by marching against Petticoat Bridge on December 23, they were met with a barrage of gunfire. Following a sharp skirmish, the Americans withdrew to Mount Holly luring the Hessians still further from Trenton."
Historical, Bridges - Automobile
This current bridge, on Petticoat Bridge Road, might not actually officially be called Petticoat Bridge, I don't know, but this is the spot on the Assiscunk Creek that the skirmish took place.