2 days near Newark

Absolutely , don't drive in . The traffic is horrible , parking is costly ( and limited availability ) . There are a number of hotels at the airport , and the airtrain - New Jersey Transit commuter train combination gets you to Penn Station in midtown in 30 to 40 minutes https://www.google.com/maps/place/Terminal+B/@40.6944964,-74.1836222,15.5z/data=!4m8!1m2!2m1!1sewr+hotels!3m4!1s0x89c252f6d4e6dcd5:0x84a259a782ff5427!8m2!3d40.6907659!4d-74.1767438 Hotels here - https://www.google.com/maps/search/ewr+hotels/@40.6923004,-74.19383,14z/data=!3m1!4b1

Is this part of a longer trip?
Can you turn the car in earlier and stay in Manhattan?
It may be hard to offer advice without knowing your objective for NYC.

Turn in the car at Newark Airport and take the transit into Manhattan, as described above, to spend your time there. Then same transit back to the airport in plenty of time for your departing flight -- or to an airport hotel the night before if the flight is early AM.

If you have been driving in NY State or New England, you might be able to return the car somewhere north of the city and take a commuter train into Manhattan for those free days. Some of us might be able to help you figure out where if that's the case.

I drove in NYC some years ago. If you wish to drive, it's best to drive on Sun morning. We stayed on the Far Rockaways, right on the beach, but an easy walk to a subway stop. We drove in, drove around a little, and drove out. We never drove during the week in Manhattan.

As almost everyone has said, avoid driving in Manhattan, any day and any time. Would be a bad decision and totally unnecessary. As some have suggested, based on things we don't know about your trip, it might be better to actually sleep in Manhattan--lodging will not be cheap but the time saved might be worth it.

I used to live in New Jersey, and Newark and Jersey City were gritty (maybe they're nicer now?). (Newark is the only place I've ever seen a dead guy – he was lying on a bench at the train station.) We always stay in Hoboken when visiting NYC (my SIL lives in Hoboken) – it's near Jersey City and there is a fantastic view of the NY skyline, from the waterfront and Sinatra Park. I love taking the ferry from Hoboken to NYC (Battery Park, I think, and you can stay on and get off on the east side of Manhattan) – easy peasy and the ride is far too short (under 15 min) – I always feel like the girl in "Working Girl" as we near the skyscrapers. You can also take the PATH train which is cheaper and faster (but not as much fun!). We take Uber to Newark airport from Hoboken. We stay with my SIL in Hoboken but now that she has cats, we've been looking at Airbnbs and they are not expensive in Hoboken – a bit surprising for being so close to NYC and with a great view and quieter ambience.

This question is more complex than you think. Since it is asked weekly on Trip Advisor NYC forum, you can quickly read a lot there. They have a Search box, if not as good as Rick’s.

Newark and Jersey City were gritty

Jersey City is quite upscale these days. It's got one of the hottest real estate markets in the region and large corporations like Goldmans Sacks are setting up shop. It's got a nice streetcar tram running through it and the waterfront is very nice:
https://goo.gl/maps/WxU8onpS4j3HrutHA
There's also frequent ferry service to the financial district/ 911 memorial.

Thank you for all the responses!

Appreciate the update on current conditions of Jersey City and the pointer to the TripAdvisor forum. I will check it out.

I'm still leaning heavily toward booking a hotel in Jersey City. We stayed in a budget friendly chain hotel near Times Square last year and I found it to be in need of some updates and maintenance (but the staff were friendly!). I assume that would be the same (or worse) for a lot of the hotels in the same price range in Manhattan. For less money, we can stay across the river in a new, clean, more spacious property with a nice view (and avoid driving into the City). Sounds like the PATH is a fast and inexpensive way to get back and forth.

Some of you asked what we'd like to do there. I don't have any specific objectives for our time other than eating some great food. :) Since we were there last summer, I don't feel the need to visit any of the big tourist-y spots.

Here's a hotel that's right by the ferry that takes you to Manhattan. I would ditch the rental car, however, so you don't have to pay to park it here overnight. https://www.marriott.com/hotels/travel/lgark-residence-inn-weehawken-port-imperial/

Sounds like the PATH is a fast and inexpensive way to get back and
forth.

Be aware that for the next 24 months or so PATH service between Jersery City (Exchange Place) and World Trade Center is suspended on the weekends. More details here:
https://www.panynj.gov/alerts-advisories/advisories-path-weekend-closures.html

Thank you so much Michael! The PATH closer swings me back the other way.

It's important to understand that the Jersey City waterfront (which is not like the rest of Jersey City) and Hoboken are not "convenient to Newark Airport." They are convenient in the sense that one can have a car (even if the hotel charges for parking) and drive right there when you check out. But it's a considerable distance, just to get out of the urban local streets and to the big highways that serve the airport. The prewar non-interstate highways (like "1 and 9") are confusing and poorly marked.

I'm not trying to talk you out of your plan. I just don't want to you to think this is going to be like driving to the mall nearest your home. I can understand why you don't want to drive in NYC. But you are deciding to stay in another state, across a river from the place you want to visit. I don't like driving in Jersey City or Hoboken, but I have driven in both.

It is true that the Goldman Sachs-subsidized ferry (from the World Financial Center pier-which IS the World Trade Center area you seem to be interested in) runs much later than all the other Hudson ferries, and that the PATH trains will continue to serve West 33rd Street, even when they are not running to the World Trade Center area. When people write on the TA NYC board, it's an article of faith "to see NYC, stay in NYC."

You don't need the rental car if your plan is to be in Manhattan or any part of the city. I wouldn't recommend staying in Newark at all. Also, Hoboken and Jersey City are inconvenient to Newark Airport.

Consider staying in NYC. Look for deals; they are out there.

OK. Changed plans to return car early and stay in NYC. Thank you for all so much for the information, tips and advice!

Oh, good!
Thanks for coming back and telling us.

I don’t know your hotel budget, but we just stayed at EVEN Hotel last month near Grand Central Station which was very handy. The hotel is new, modern, and the room was very clean. It’s a smaller hotel, and we didn’t need to wait long for an elevator. A delicious French bakery is down the block.

There is always Philly :-). Hop on Amtrak and arrive at the fairly central 30th St station. And then, of course, there is the Jersey shore, north and south. Since I am Philly, I know south, but may be a nice option to urban jungles!

Travelmom, good move!

Jean, which French bakery?

Continental, I had to look on Google Maps because my husband always bought them while I was taking my shower. It’s a Madison Kayser at 44th & 3rd Ave.

Sorry , not meaning to be pedantic , it's " Maison Kayser " One also at 41st and Fifth , and throughout Paris .

It’s a Madison Kayser at 44th & 3rd Ave.

Thanks. Maison Kayser has a few locations clustered together in midtown. I need to try one!