When I would schedule a visit to Manhattan from Boston, I would sometimes park in Westchester or CT and hop Metro-North to complete the trip. Pretty much everything is easy to get to from Grand Central (where the MNR trains terminate).  
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If I was coming down I-95, I could pick up the New Haven Line in Stamford (express to GCT) or even further south and pick up a local. If I was coming down 684, I'd pick up the Harlem Line. If using the Sprain or the Thruway, you could catch the Harlem Line or the Hudson Line.  
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For me, it was a very relaxing ride into the city and some time to snooze or rest up. On the return trip north, I just had to make sure not to miss my stop!

I will be visiting Greenwich/Stamford area 3/14..

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Jaydalee
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I am based in Westchester. Check out my website and reviews! I love meeting new friends.