Charles de Gaulle airport to Paris Gare de Lyon

Can anyone tell us the best way to get from the CDG airport to the Gare de Lyon train station in Paris.

"Us" can be 2 or more and the number is important. Le Bus Direct will get you there at 14 EUR pp in about an hour, with luggage in the hold. The RER B to Chatelet- Les Halles, then the RER A or Metro 14 will get you there quicker at 10 EUR per person, dragging your luggage. If "Us" is 3 or 4, taxi would be good, as it is 50 EUR fixed rate.

I'll just say that barring real misadventure you should make your train with time to spare, whichever way you chose to go.

For the Bus Direct that Sam mentioned (which is very comfortable and much more secure and easier than the RER for just a few euros more), you want the "line" to Gare de Montparnasse. It stops first at Gare de Lyon on its way into the city and then finishes at Gare de Montparnasse. (I once had a friend who didn't pay attention, didn't get off at the Gare de Lyon stop, and ended up at Gare de Montparnasse.) It's really easy, you just have to know you're getting off at the first stop!

If you haven't already booked your train, there are quite a few direct TGV services from Charles de Gaulle to the areas of Southern France served by Gare de Lyon.

Uber is not allowed to pick up passengers from either airport or any train stations. So you can cross them off your list.
If you have a bunch of luggage and a bunch of people, just follow the overhead signs to the TAXI stand and wait your turn. Give the driver the complete printed location of where you're staying, including the Postal Code, so there won't be any confusion.
The flat rate fee for your destination is 50 EU, but if there are 5 or more passengers, each will be charged an additional 4 EU. There is no fee for luggage.