Parking wise - it depends on the day of the week and where exactly yo endup taking them. If its a sunday keep your car - if its a weekday I would park and take subway - its usually faster then driving in manhattan anyway.
Personally I like Meatpacking district and Soho in Manhattan (central park always being a safe choice )
Dumbo, greenpoint and Williamsburg in Brooklyn.
Grand Central station and central library are also very cool locations and are only 3 blocks from each other.
I would go for the highline for a unique view of the city that hasn't been killed (yet). Lots of good photos on the web already, and its walking distance (about 15 minutes or so) from B&H.