How do we travel from newark airport to upper east side?
There are trains that run from Newark Airport to Penn Station in Manhatten, but with a family and, presumably, luggage I think a taxi would be the best option. When you come out of the arrivals hall you’ll see a taxi rank and a taxi marshall will ask where you are going and quote a fixed fee which you give to the driver when it’s your turn, so you can’t be ripped off. You may have to pay a few extra $$ for the tunnel tolls into Manhatten and don’t forget to tip the driver!