From the North East
Take I-95 South/West to New York. Just before you reach the George Washington Bridge, you should see signs for the Henry Hudson Parkway ("the last exit in NY"). So, get into the right lane and follow these signs.
From Upstate New York
Take Interstate 88 or 90 West to Albany. Then follow Interstate 87 South across the George Washington Bridge.
From South of the Mason-Dixon
Take 95 North and follow it across the George Washington Bridge.
The Second You Reach Manhattan
Get into the right lane by the end of the bridge and exit onto the Henry Hudson Parkway going south. Take HHP until 125th street. Drive down the ramp and follow the road by the river for about three hundred yards. Then make a left underneath the bridge onto 125th. Take 125 about three blocks (pass the Cotton Club and Fairway). Then make a right onto Broadway at the McDonald's. Follow Broadway down to 114th and find a place to park.
If you can find a spot on this street, go for it. It's actually pretty safe and it's near where your singing. You can also try 113 and 112 between Broadway and Amsterdam or 116th between Amsterdam and Morningside drive. There's also a parking garage on 114th between Broadway and Amsterdam next to St. Luke's Hospital. It's probably a little safer, but it will cost you at least fifteen bucks.
If you arrive at Grand Central Station, take the S (grey) subway line across town to Times Square (42nd Street). Then transfer to the 1 (red) line going uptown.
If your train comes into Penn Station, simply get on the 1 (red) train going uptown.
In either case, take the 1 line up to 116th street. A single ride costs $2.50.
Once you've abandoned your mode of transit, walk up to 116th and Broadway. Go through the gates and walk halfway across College Walk. When you see a big statue with ionic columns and a dome behind it, you've made it to the heart of Columbia.