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Your first step is to find out from the hotel whether it provides complimentary transportation to/from any nearby transportation terminal. If it does not, then find out whether there are any buses to/from Manhattan that stop at the hotel. You should be able to obtain this information by contacting the hotel by telephone or E-mail; the information might also be on the hotel's webpage.

Let us know the answer to that -- and tell us how many are in your party -- and then we can better advise you.