Meet at the Staten Island Ferry. Use 1 Bay Street, Staten Island, NY on Google to get directions from your house. You will have to take the Bayone Bridge (more interesting) or the Goethals Bridge. On Sunday, there’s free parking on Richmond Terrace, Bay Street, etc. The ferry lot hourly parking rate is $1.50 per hour, while the daily parking rate is $12.
Note that driving directions will use Latitude, Longitude of 40.64194, -74.07361 as address for this location.