Checking goggle maps, i see that the 2/3, 4/5, and M/R subways all go to Borough Hall. Can someone tell me if it makes a difference which one I take, leaving from Penn Station, to be close to Brooklyn Heights Promenade area?. (looks like M or R is not an option at Penn station).

Want to walk scenic area heading toward Brooklyn Bridge.

Thank you - my planning is almost finished with the help I've received here.

The 2 and 3 are under Penn Station. The R is one block away. The others are not near by.

The closest station to the Promenade is the Clark Street station on the 2 and 3. Just take the first thing that comes heading south on the express track at Penn Station for the 1/2/3 lines. The main promenade area is just west of the fruit streets (Cranberry, Pineapple, Orange) in Brooklyn Heights and those are essentially around the corner from the Clark Street station. The Borough Hall station will be a longer hike.

The 4 and 5 are accessible at 42nd and Grand Central Station -- that's across town and 1/2 mile north from where you'll be. The R is not right under Penn Station, it's another block east and it is S L O W. At least the 2 or 3 will fly from 34th to Chambers.