5 of you I would look at car service like carmel or dial 7. If you prebook on their websites, you call when through customs, you wait about 10 mins kerbside and trip is about 30 mins costs about 50 bucks plus $5 toll and tip (for a big car for 5 like Lincoln Town Car) Carmel and Dial 7 are cheapish but I have found them reliable though not all cars are this year's model. Cab is about 5-10 bucks cheaper, normally a 2-3 minute line but can be not as nice. Air Train and Subway is about 15 mins to Jamaica or Howard Beach and about 50-60 mins from there by subway I think about 8 bucks a head and Train from Jamaica is about 14 bucks but you have to get from Penn Station to your destination. Subway is OK but noisy and bags are a problem in Manhattan as many stations have stairs only access to street level.
Transport NYC