I would really like to recommend a great book which a friend of mine bought me for my last birthday. It's called City Walks New York: 50 Adventures on Foot
by Christina Henry De Tessan, and I found it to be very useful when I visited New York last year. One can find it on: http://www.fetchbook.info/city_walk_to_newyork.html.
I believe the best way to see New York is on foot, so have a look, and I hope you will all be inspired, just as I was.