Trains near Camp Sac

I'm looking for a train station near Camp Sac, and information on getting there from NY Penn Station or Grand Central, with the former being preferable....getting a ride to the site from a station isn't an issue, just getting to NJ :) Thanks!
~Lauren

I am also taking the train.  NY Penn station (34th & 8th) on the NJ Transit line Northeast Corridor to Dover station.

Here's a sample schedule.

Thanks!