You can take the 1 or the A train
How Can I Get From Penn Station To Lincoln Center?
These are driving instructions, but to change them, just ignore the last line as from Broadway, you should to able to go to Colombus Avenue directly.
1.Head northwest on W 33rd St toward 8th Ave 0.2 mi
2.Turn right at 8th Ave 1.3 mi
3.At Columbus Circle, take the 4th exit onto Broadway 0.5 mi
4.Make a you-turn at W 66th St 387 ft
5.Slight right at Lincoln Center/Lincoln Center Plaza
1.Head northwest on W 33rd St toward 8th Ave 0.2 mi
2.Turn right at 8th Ave 1.3 mi
3.At Columbus Circle, take the 4th exit onto Broadway 0.5 mi
4.Make a you-turn at W 66th St 387 ft
5.Slight right at Lincoln Center/Lincoln Center Plaza