If you have the address of where you are going, try mapquest. Plug where you are coming from and where you are going and it gives you door to door driving directions.
The easiest way is to take the Garden State Parkway- where are you, on LI? If so, you need the Verrazzano Bridge, to the Outerbridge Crossing to the Garden State Parkway (GSP) South - it's the southern most route - you can also take the GW Bridge to the Garden State Parkway or the Verazzano to the Gothels to the GSP.....