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You can plot your trek on the MapQuest or HopStop web site, the office address is: 100 Park Avenue, New York, NY 10017 - http://www.mapquest.com or http://www.hopstop.com.
From Penn Station: The New York office is about a 20-30 minute walk from Penn Station. Leave Penn Station via the 7th Avenue exit. Walk east on 32nd Street. When you get to Madison Avenue, make a left. When you get to 40th Street, make a right to go east toward Park Avenue. The office is located on Park Avenue between 40th/41st Streets.
From Grand Central: The New York office is one block south of Grand Central Station. Take the Vanderbilt Hall/42nd Street exit and walk south 1 block to 41st Street. The office is located on Park Avenue between 40th/41st Streets.
Public Transportation - http://www.mta.info - The MTA web site has maps of all the NYC transportation systems. The nearest subways to the New York office are the 4, 5 and 6, Lexington Avenue trains (green). Use the Grand Central Station stop and walk south. Additionally, there are the shuttle "S" (gray) and the 7 train (purple) that go from Times Square to Grand Central Station, a quick 5 minute ride. Trains that go to Times Square include the 1, 2, 3, (red) , N, Q, R, and W (yellow).