If you are staying in SoHo then you might want to consider taking the PATH to Hoboken and catching the NJ Transit from there to Seacaucus. I find Penn Station to be a complete shitshow and avoid whenever possible.
I will try to find the thread where I gave recs to another poster. It will be easier than retyping everything. SoHo is a fun area. Be sure to check out Oficina Latina for a drink. I love this place. LINK
ETA: Here is the thread LINK
This post was edited on 10/17 at 10:31 am