If you have trouble walking for long, take the crosstown bus M34 located on 34th St and 7th Avenue to Third Avenue and 34th Street and then transfer to the local M102 or M103 bus located on 33rd St to 38th Street and walk down the block. Hope this helps.
Yes you can walk from Penn Station it's about 23mins. This center is very good, they're extremely polite and care about you.
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