Well , there are many ways to go.. If it were me I would do the following:
Cross the outer bridge crossing into NJ and hop on the NJ turnpike south..
If you can , take it all the way south and cross the Delaware Memorial Bridge into DE..
Hop on 95 south and keep on trucking.. Once you get close to Baltimore , look for signs for 695 EAST.. Francis Scott Key Bridge... take 695 across the bridge and follow back to 95 south below Baltimore
follow to Florida.. ----OR---
If you want to avoid the big cities all together you can do the following:
follow directions above into DE on 95 south.. Once on 95 exit onto DE rt 896 south... follow to 896/301 south.. follow 301 to 50 west.. cross the Bay Bridge and stay on 50/301.. look for signs for 301 south in Bowie MD... take 301 south all the way down to 207.. that is the bowling green bypass.. take it to 95.. that will drop you on 95 at mile marker 104.. which is about 30 miles north of Richmond VA..