just adding agreement to the above posts...
Being on the road in NYC on a Summer Fri afternoon should be avoided at all costs. Really. You will be stuck in complete gridlock for much of your trip.
Take the trains through Penn Station. The trip will be quicker this way.
If you do decide to get in a car svc/cab, try taking the Verazzano ($8) through Staten Island over to NJ. Might be out of the way and you will still crowded, but trying to traverse Manhattan should simply not be considered unless you really enjoy sitting in traffic.