From your area take 84 and go to Purdys or Goldens Bridge on the Harlem line on MetroNorth (near danbury) should be around $25 round trip and free parking. Don’t drive down to New Haven, parking is very expensive and the train costs more down there and it’s out of the way for your location.

Once you get to Grand Central you just take the subway (4/5/6 train) to 14th street/Union Square.