I really liked going there. The parking is free, a novelty in New York City. The grounds offer both an interesting sculpture garden and great views of the Palisades. You should arrive in the morning when the sun is on the cliffs and the view is spectacular when autumn color comes to the Palisades.
Inside you will circle around an eclectic collection on a large first floor of one building. There is everything from Yankees memoribla to miniature dollhouse like settings of early 20th century life on the Lower East Side. There are paintings from just about any school, a wonderful collection of suramics and even a little NYBG style train show. Don't miss the European artifacts of religion, torahs and menorahs that predate World War II, an emotional viewing.
There is another aspect of the viewing area that I enjoyed, people live there. Retirees that have stories to tell and one was even putting on a ragtime profamance on a piano. Your museum guides are assisted living employees and residents, while the actual currator has plenty of time for each visitor. There is also a cafeteria with prices far below most museums eateries and views that are far above.
To get there you can take the BX7, either from the 207th Street A train stop or the 231th Street stop of the number 1 train, and get off at 261th Street. Then follow 261th to Palisades Ave.