When we arrived at NY Penn Station, we took a taxi to our hotel. You can also hop on the subway from Penn Station; you can take the Q, N, or R subway lines to Times Square, where our hotel was located.
But we wanted to travel above ground to soak in the sights. I am glad we did because it was an adventure riding in the back of that taxi as we weaved in and out of traffic, narrowly missing other cars and pedestrians. All the while my cab driver was screaming and honking at everyone.
The subway system in NYC is very easy to understand and very safe. Seven dollars buys you an unlimited subway pass for 1 day.