Okay, listen, a lot of people who are trying to get to Madison Ave. take 787 and take the Madison Ave. exit- makes sense, right? Not really- that area around the exit is a snarl and a traffic nightmare. Instead of the exit for Madison Ave., try the exit for Empire Plaza. It's well marked, and it brings you around into the Empire Plaza underground parking area. Follow around till you hit the horseshoe at the far end, loop back under the Plaza, and take the last right before you go back outside. Go through the little archway, and you'll get dropped out on Madison Ave., past a bunch of lights and hazardous Downtown-Center Traffic.