From Milford bus to New York, NY. 2 h 17 min $31. From Milford taxi to Port Jervis then train to Hoboken. 2 h 20 min $65. From Milford, PA bus to Middletown, NY then bus to New York, NY - Port Authority Bus Terminal. 3 h 22 min $71. From Milford drive to New York. 1 h 28 min $8.