Will be driving from York, Pa to Groton , CT and don't know the best way to get thru the New York area. AAA has given me a route that uses the N.J. Turnpike, Garden State Parkway,etc. "Streets and Trips" shows me taking I-95 all the way.
Any suggestions by someone familiar with the area would be appreciated. Thanks
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Your challenge is crossing the Hudson River, and I believe you have two choices; cross on the George Washington and take the Cross Bronx Expressway or go farther north and cross on the Tappan Zee.

I prefer the Tappan Zee route, just because the Cross Bronx route can be a little more exciting than I like.

I would go NJ Turnpike to Garden State to 287/Tappan Zee Bridge to Hutchison Pkwy which becomes Merritt Pkwy in CT, take exit 54 off the Merrit which takes you to I-95N to Groton.

Follow Loki's directions. They are right on the mark.

One clarification on Loki's directions to help you avoid confusion. When you get to 287 after the Tappan Zee Bridge, you want to take Exit 9 and follow the signs to the Merritt Parkway. (Do NOT take the cutoff for the Hutchison River Parkway.)

Good point, Howard. Do pay close attention for the first few miles after the Tappan Zee toll. It gets a little confusing if you're not familiar with the area and stick to the right so you don't have to make your way across traffic to get to the exit.

Here's another recommendation for Loki's route.

You have to really pay attention and stay right to find your way to the Merritt.