Newark to Penn Station. Easiest route?

I’m in for the weekend to see family in NJ and I really want to go to NYC. I’m from the south and know nothing about transits except my small college bus route lol. They are all out at a football game and I’m here trying to pass time and wanted to try and explore the city. What would be the easiest path to take from Newark to NYC (maybe Manhattan) and back***?

Also, just want to say I see why you all honk your horns so much. We need to do more of it in the south tbh.

Edit: So I'm back home. Going to NY Penn was a breeze!!! I parked across from Newark Penn for $46, 4 hrs. I know it it's a lot for some but it was just more convenient for me. Coming back... not so much. I got on the wrong train (to Newark Broad street instead of Newark Penn) because the conductor/ticket guy said YES when I asked if this was the train to Newark Penn THREE TIMES- even my brother heard him say that the train was gonna take us to Newark Penn, and I had 2 minutes to spare (I guess I was confused on the 11:11 and 11:14 trains). Also, my ticket was scanned going to NY Penn but not coming back? Regardless, Now I know to make sure I look at the train number before boarding to see if it corresponds to what it says on the app. Anyways thank God for Uber because getting back to my car wasn't too much of an inconvenience. Otherwise I had so much fun and really appreciate the city. Thank you all of your help and I will definitely be back to NJ/NY!!!