Which train would be the best for me to take into NYC?

I live in the Scranton/Wilkes-Barre area of Pennsylvania. Some friends and I would like to take a day trip to NYC and are wondering where we should park and ride into the city. I have heard there is a station in Hoboken, NJ and one in Newark. Are one of these going to be the best option or is there a better one? Also where would I find the address for the station that I am going to? And is there parking nearby? All information would help. Thanks.