I recently went on a road trip from Toronto, Canada to New York City, New York. I was a little uneasy with the thought of parking my car in New York and also driving in the chaotic traffic of New York City. Furthermore, the cost to park the car in Manhattan would be quite expensive. To avoid the need to drive into Manhattan via the Lincoln Tunnel, I searched for a secure and safe parking lot with quick and easy access to Manhattan. I parked my car at Propark located in Weehawken, New Jersey at 1200 Harbor Blvd, they charged $30 for 24 hours. I strategically parked my car here because there is walking access to Lincoln Harbor to catch the NY Waterway Ferry. This Ferry ($9 one way) will take you to midtown Manhattan in 6 minutes and there are ferries coming every 15-20 minutes. A lot of the commuters working in Manhattan but residing in New Jersey use this ferry service. Safe to say, after parking my car overnight for 2 days, I found my car in one piece, not a scratch or dent and no stolen property missing from the vehicle.
There are also other piers with parking on the New Jersey side that can take you to Manhattan via the NY Waterway Ferry such as from Hoboken or Port Imperial. All the schedules are found on the NY Waterway app or website. Bonus, after arriving from the ferry in Manhattan, the NY Waterway provides you free buses to get to where you need to go in Manhattan.