Like others said, Liberty Harbor is the best bet if your intention is to visit the city. Short walk to the PATH, which is 2 stops into Lower Manhattan, short drive to the Holland Tunnel, which takes you into Lower Manhattan, or a ferry ride from the marina to Lower Manhattan.
Wife and I went there 9 years ago in the winter. Woke up, got ready and went into the city. Wandered around the city all day, returned to the camper and went to sleep. This campground is PERFECT for that type of trip. If you want a campground feel, this is NOT where you want to be.
