Bus ($15) and subway ($2.25) would be an inexpensive route. There's no direct route to your location other than taxi ($45+tolls+tip). Take the NYAS express bus from T4 to Penn Station, then go downstairs to the subway and take the uptown #1 (local), #2 or #3 subway (express) to 96th St. Walk south on Broadway two blocks to 94th St and turn left.
Bus ($15) and subway ($2.25)