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You can go by (Yellow) Taxi for a flat fee $45 plus tolls ($4)for midtown tunnel. Or you can tell him to go over the 59th street bridge which has no tolls.
There is a (Yellow) Taxi stand outside the terminals. DO NOT TAKE one of the gypsy cabs. Those are the guys that are outside of the customs hall and approach you asking if you need a taxi, just say no , or ignore them.... GO OUTSIDE to the Yellow Taxi stand. They are regulated and insured.

You could also contact Super Shuttle,it is a few dollars cheaper, but there will usually be other people in the van, and you may not be the first stop, or the second!