What's The Best Way to get to Manhatten from NJ?

I need help concerning the best way to get to Manhatten (in particular MSG)
from New Brunswick New Jersey? I will be here on business and would like to
attend the Quad shows. Is there some sort of transit system available from
this location? Or would it be best to drive to a closer location in New
Jersey? Any suggestions on what would be the best way to get there would be
great.

Steve
Stratford, Ontario.
Canada