I regularly drive into NYC a lot of hotels work with parking garages near them to offer parking discounts if you stay with them. The parking is not cheap I would say it averages $100 a day. I have also had luck street parking but I normally only stay a night or two (I am in CT so it’s local for me)
There are parking options outside the city and you could take the train in. I have left my car in train lots in CT for a night or two. Some charge and some are free. Some are in areas I wouldn’t want to leave my car so I’m picky which ones I use.
I prefer to train in, it’s less hassle IMO but friends of mine prefer driving because they are not light packers and need the car space. I’m fine with a backpack for the weekend.