If you can snag a taxi that will hold all 4 of you then you can split the fare ($45 + $5.50 tolls and tip). Otherwise try the Super Shuttle. If the 4 of you feel adventurous you can get there by Airtrain/subway ($7.25); take Airtrain to Jamaica station, transfer to the E subway, at Forest Hills/71st Ave. transfer to the V subway and take that to 34th St./Herald Square (6th Ave.) and walk two blocks down to 32nd St. Hotel is between 5th & 6th Aves.
If you can snag a taxi that