There are many ways to get to Manhattan from West Orange. Depending on what part of town you live in and which mode of transportation it can take anywhere from 45 minutes to 110 minutes. Give me a call to talk through what works best for you.
W. Orange also offers a jitney service from various stops around town to the Mid Town Direct train....you can check the W. Orange website for the jitney schedule http://www.westorange.org). It will take about an hour, total, to Penn Station.
You can drive using Rt 280 to the Lincoln Tunnel - the drive can be as short as 25 min , but not during rush hour!