If you have the address to port just follow signage once you get by port.
This is the 3rd cruise out of NYC for DH and me. My husband is from NYC and I use to work in Manhattan, so we are very comfortable getting to the port from our home in NJ.
We usually, come in from one of the tunnels and head North up the Westside Hwy. Port is on the left. There is a left hand turn signal at the traffic light which is directing you to cruise ship parking. You will go up a ramp and you will be directed from there.
Once you park, there are personnel that will direct you to the terminal. I think there are even porters to help you right from the parking lot, but I am not 100% sure. We always handle our own luggage.
Once in th terminal you will be direct through security and then on to check in. You will eventually see CM fo
DCL waving the Big Mickey Hand and then you know you have made it.
The view of the city from the ship is so gorgeous. And the views of NJ and the Hudson River are pretty good too. You will sail pass the Statue of Liberty and under the Verranzo Narrows Bridge, pretty nice sights.
All the best and good luck. We leave again out of NYC in 2 weeks.