Originally Posted by CalebD
A better bet is less than 1 mile north of there on the Hudson. Just north of the Stuyvesant H.S. building is a small mooring field which is now operated by Liberty Landing marina, which is across the river. They have a new, fairly long dock that you could probably get away with a free "drop & go" transaction. This location is a few blocks west of the Chambers St. #1,2,3 subway station.
I have been dropped off at Chelsea Piers (23rd St.) from a sailboat before without being hassled..
I've been picked up here as well and while had to duck under a gate we hung out for 20-30 min and weren't bothered.