I would suggest that you park your car somewhere along the train line that takes you to the ferry. There are a lot of places where you can park your car in the street and then get on to a train that will take you to the ferry. You have to pay the train fare at the end of the line but it s only $2.50. When you get off the train at the ferry, the boats are timed to leave only 10 or so minutes after the train pulls in. You ll have plenty of time to catch the boat into the city. The same holds true when you come back to Staten Island.
Try to park in Weehawken, NJ for $8 to $15 by the Manhattan ferry.Weekday before 10am $8 Weekday after 10am $10 Weekends $10 Premium Lot Rate $15 Monthly w/ ferry pass $140 Monthly w/o ferry pass $175