Better yet - wait till about 1900 and drive a couple hours to get out of the NYC area and spend the night. Hotels around JFK are expensive, and trying to get out of there through and/or past NYC in morning rush hour is brutal.

I'd take the Belt Parkway to the Verrazano Bridge (I-278) to the Pearl Harbor Expressway (NY-440) to the Outerbridge Crossing. Take I-287 to I-78 to PA-33 to I-80 and then as Lifey suggested. I'd spend the night somewhere in NJ or in eastern PA. It should take you about 2.5 to 3 hours to get to the NJ/PA state line if you don't hit unusual traffic delays.