Do you want to stay outside NYC or do you plan to leave your car, say, in a suburban station parking lot and take the train in for your visit?

Otherwise, the trip is easy. You drive north to the Bourne bridge on MA Rte 28, follow MA Rte 25 to Interstate 195. In Providence, you connect with Interstate 95. Mystic makes a nice lunch break if you have an early start.

I 95 will take you all the way to the George Washington Bridge across the Hudson, but until I know the answers to my first paragraph, I can't discuss the alternatives.

We will be staying mid-town Manhattan. I understand parking is very expensive. even in hotel you are staying in. What would be the closest town to leave our vehicle to take train or sub station transportation? We want this to be simple and uncomplicated.

Depending on how long you're staying (i.e., how many nights), it might be a wash as to the cost of parking. There's not that much available parking near Manhattan, and if you were to park in, say, Stamford, you'd have to pay and then pay at least $8 or $9 each to get into Manhattan. For that, you could afford two nights in a $30 garage in Manhattan. Unless you really really don't want to drive in Manhattan, that might be a viable option. Just don't pay the inflated hotel parking. You can even park outdoors on the west side for half that price. There are several lots along the West Side Highway. If you don't leave stuff in the car, that's safe enough.

You can get parking in Manhattan for from $30 to $40 per night depending on the garage - not a whole lot less than parking in a major suburban lot (such as Stamford and taking the train first into the city then back out again.

Parking on the street for 4 overnights is not recommended even where it is possible (not Manhattan) since you may return to find your car gone or stripped. Suburban open lots often require local town stickers and are usually full at 8 am - even if you are willing to leave your car unprotected.)

I don't mean park outdoors on the street. I mean park in an open, guarded and gated parking lot on the west side (there are several in Hell's Kitchen north of the Lincoln Tunnel), where parking is usually less than what it costs in a garage. If the weather's not bad, this isn't a problem, though you have a long walk or taxi ride to the hotel.

Simplest and uncomplicated would be to drive into Manhattan and park your car there. It will be much simpler for when you continue your trip to the midwest--just get in the car and go--no backtracking to suburban train stations, no money spent on multiple train tickets (sounds like your group is at least 2 people), no depending on train schedules and negotiating unfamiliar stations.

Thanks for the info on Hells Kitchen. We can probably get there without a problem. Just two of us staying 5 nights. I will check that out and thanks again

Are you going Cape to NYC or Boston to NYC? If you're leaving from Boston, then Ackislander's directions don't apply. Instead, you take the MassPike (I-90) to I-84 West to I-91 South to I-95 West.