How long will you be there? Frankly, since you've never been to the city, arranging parking and transport from outside the city will be confusing. Parking IN the city is expensive, yes, but so is taking the train in and out. As far as driving is concerned, just prep yourself ahead of time with specific directions and Do. Not. Drive. To. Times. Square.
None of the tourist spots are that close together, really, but we walk a lot and take a lot of subways. Check out
http://mta.info/nyct/maps/submap.htm for more details.
If you give more info on how long you'll be in town and what y'all want to do and which bridge you intend to take, I'll be able to give you some more specific info.
