When my husband needs to go into the city, he drives to Secaucus and takes the NJ Transit train to Madison Square Garden. From there you can take subway to almost anywhere. We have driven to Hoboken and taken the Path, if she really doesn’t want to change trains at all, that’s probably the most direct, but the drive is likely to be a little more challenging than Secaucus because you get close to the Holland Tunnel entrance, which attracts more traffic.

Edit: forgot to address Path parking. I don’t think there’s dedicated parking in Hoboken, but there are a couple of garages nearby. I don’t know if they fill up, we weren’t going in on weekday mornings for the most part.