Park your car at Metropark. It is easy as it is right off the Garden State Parkway maybe a mile or so after the Garden State intersects with the New Jersey Turnpike. You can catch a NJ Transit train right into Penn Station which is at 34th Street. You have access to several subways that will get you to 57th Street so you won't waste money sitting in a taxi in gridlock as the meter keeps increasing as you sit and sit and sit....
Metropark cuts your driving nicely and keeps you away from northern NJ traffic.