Of course, now that I'm looking at a map, it looks like it would be easier to get on I-95 South in Newark (coming from Manhattan) to I-195 South to I-295 South, and that will put you on the AC expressway (Route 42), so you don't have to go through downtown Philadelphia.
If you want the scenic route going through downtown Philly, go the first way I told you which is a little longer. The second way is a direct shot.
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