Waynesboro is a borough in Franklin County, Pennsylvania, United States. Located on the southern border of the state, Waynesboro is in the Cumberland Valley between Hagerstown, Maryland, and Chambersburg, Pennsylvania. It is part of Chambersburg, PA Metropolitan Statistical Area, which is part of the Washington–Baltimore combined statistical area. It is two miles north of the Mason–Dixon line and close to Camp David and the Raven Rock Mountain Complex.

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