You could take the A train to High St.-Brooklyn Bridge Station in Brooklyn. You're only a short walk away from the brigde. All you have to do is cross a street, and walk across a park. Go down toward Prospect St., and a stairway to the bridge is there on your left. Walking across the brigde should take about 20 minuets. More if you stop to rest and take pics. On the Manhattan side, there is the City Hall-Brooklyn Bridge Station. You can take the 4,5,6 trains back to Midtown.
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