One of our concerns was finding reasonable parking. I don't have any reservations about driving in Manhattan as I've done it several times before, but I know that parking rates can be outrageous.
Our original plan was to park our car in Weehawken, NJ and take the ferry into Manhattan. It's a beautiful way to arrive in New York, and the parking rates at the Port Imperial Ferry Terminal seemed to be reasonable.
While searching around, though, I found a website (BestParking) that gives the rates for most of the garages and lots in Manhattan. Using that, I found that I can park near the hotel and cruise terminal in the City for just a few bucks more than the cost of parking in New Jersey and the cost of the ferry. The site also has an app for most phones and appears to give parking rates for a variety of other cities and airports, although I haven't checked out any of those features.