PA 934 begins at an intersection with US 322/PA 241 in South Annville Township, Lebanon County. From this intersection, the route heads north-northwest on two-lane undivided White Oak Street, passing through open agricultural areas with a few homes. The road crosses Quittapahila Creek into Annville Township, where it passes homes in the community of Annville as it comes to the US 422 intersection. Following this intersection, PA 934 passes by the Lebanon Valley College campus and comes to a bridge over Norfolk Southern's Harrisburg Line. The route enters North Annville Township and becomes Bellegrove Road as it heads into areas of farms, woods, and homes, making a turn to the west prior to heading to the north. PA 934 passes through the community of Bellegrove as it turns to the northwest and crosses into East Hanover Township before reaching a bridge over the Swatara Creek. After the creek, the route reaches an interchange with US 22, at which point the road widens to four lanes and becomes Fisher Avenue. Following this interchange, PA 934 becomes a divided highway and heads north to its terminus at the I-81 interchange, with Fisher Avenue continuing north onto the grounds of Fort Indiantown Gap.