Originally Posted by
Dahon.Steve
There is no way you can cross into Staten Island from New Jersey.
Minor quibble, the Bayonne Bridge has an open walkway. Could be interesting to get there, but you can cross into Staten Island, bike to St. George, and take the Staten Island Ferry to Manhattan.
If it were me, though, I'd bike to Atlantic Highlands and take the ferry from there. The biking's nicer when you get away from the US 1 corridor.