I need to drop off my friend, so where i can park my car?

Short term, you should call ahead first.

Short term parking if not you'll get a ticket from Port authority

Short term parking

Came in a cab was drop off at the main entrance.But I'm pretty sure each terminal done have parking.

Follow the signs to park in the "short term parking lot".

Each terminal has parking close to it with its own entrance

Yes, the airport has a parking lot