don't forget the q32 - doesn't it go from penn up Madison past grand central?
I would absolutely NOT do the (subway) recommendations that the others have suggested - sorry guys/gals

Just not worth it.
The Court is on the corner of Lexington... you could also do the M16/34 across 34th to Lex and then walk up the 4 blocks, easy peasy. BTW, the diner across the street from The Court is very tasty! And if you go to 43rd and 2nd, goodburger ROCKS!
That is my advice