Maps
It is possible to travel in Manhattan by car, if you enjoy aggressive driving with hundreds of other angry New Yorkers who certainly don't want to deal with out of towners and spending at least an hour finding parking or paying an arm and a leg for it, than this your thing. The most stress-free way to travel around the city is by public transportation. It is a lot safer, convenient, cheaper, and most likely faster! All you need is a Metrocard and you're good to go anywhere. Pick one up at any station or even the nearby convenience store. However, if you're traveling to the other boroughs by car it won't be quite as bad and will probably be more preferred over our transit system. Here are several links to maps that will be useful.
-Subway map of all five boroughs
-Long Island Railroad map to Long Island
-Metro North map to upstate New York
Tips
Avoid rush hour traffic. Try to plan your day around traffic unless you enjoy standing shoulder to shoulder, jam packed, in a hot subway car, with a bunch of smelly people. It's no fun, believe me. If you must travel during rush hour, stand towards the front or back of the train on the platforms. The LIRR is also a great and slightly more expensive way to travel if you're traveling between boroughs.