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Convert the DataFrame's content (e.g. Lat and Lon columns) into appropriate Shapely geometries first and then use them together with the original DataFrame to create a GeoDataFrame.

from geopandas import GeoDataFrame
from shapely.geometry import Point

geometry = [Point(xy) for xy in zip(df.Lon, df.Lat)]
df = df.drop(['Lon', 'Lat'], axis=1)
gdf = GeoDataFrame(df, crs="EPSG:4326", geometry=geometry)

Result:

    Date/Time           ID      geometry
0   4/1/2014 0:11:00    140     POINT (-73.95489999999999 40.769)
1   4/1/2014 0:17:00    NaN     POINT (-74.03449999999999 40.7267)

Since the geometries often come in the WKT format, I thought I'd include an example for that case as well:

import geopandas as gpd
import shapely.wkt

geometry = df['wktcolumn'].map(shapely.wkt.loads)
df = df.drop('wktcolumn', axis=1)
gdf = gpd.GeoDataFrame(df, crs="EPSG:4326", geometry=geometry)