Check-in is at 3pm on Friday. If you are coming Thursday, it's the same time. Check-out is 11am on Sunday, you can always call down for a late check-out!
Soho Grand has valet parking for hotel guests. $80.00 for Sedan and $90.00 for an SUV ; Parking garage does not offer in/ out privileges. A better option is to download SpotHero. It's a parking app. You can put in your destination and it will tell you which parking garages are nearby and how much for the night. You are able to reserve a spot on there beforehand. I would do as early as a week before.
The subways are a quick way to get to and from Penn Station if you are coming in that way via Amtrak or another train service and if you feel confident and safe enough to use them. Google maps gives really explicit directions, including which train to take, what time it is coming and more.
If you are coming in to Penn Station, we usually take a cab down to Soho Grand. It is very quick and easy. It will be about a 15-20 minute ride. When you get off the train, take the escalator to the street level on 8th avenue and there is a taxi cab line. You cannot miss it! Uber works too. Taxi's are very easy to get. If the light is on, on top, throw your arm in the air and grab it!