Where is the parking lot for this? I couldn't find it.

Here: 40.9466488, -74.3885404

Right where Google maps takes you once you press: Start Navigation. You just asked this question on a location of the parking lot

Either by the pyramid mountain sign or there is parking on the kincaid park side if pyramid is full.

The parking lot is a dirt lot right past the Pyramid mountain sign. There are yellow gates on either side of the entrance.