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1) drive* to the secaucus junction train station in secaucus and park there ($10 during weekdays and $5 during nights and weekends).
*if you do not have access to a car, you will have to take the nyc-bound 159 bus to the corner of bergenline ave and 32nd street in union city. then walk one block south to the corner of bergenline and 31st, where you can catch the secaucus-bound 129 bus to the secaucus train station.
if possible, try to avoid the bus option, which will be far more time-consuming than simply driving to secaucus.
2) once you've arrived at the secaucus train station, take the trenton-bound northeast corridor train to either the jersey avenue station (the "other" station in new brunswick) or the princeton junction station. note that NE corridor trains stop much more frequently at princeton junction than at jersey avenue, as the latter gets bypassed on weekends and by some express trains and northbound trains.
3) from either the jersey avenue or the princeton junction station, you can take a cab to kendall park. kendall park is located about halfway between these two stations.
2 hours at an absolute minimum. more if there's heavy traffic and/or a train delay.
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