Driving in New York?

So, for a business trip I am flying into New York's Laguardia Airport and need to get somewhere in Connecticut that is about 1 hour away. I've called a few car services and the costs they want to charge to take me there and back - out of this world. It's so high that I'm considering renting a car, even though my employer will pay these charges. But I will never drive in NYC, no way.

Is LaGuardia like NYC? Or is it more suburban? Anyone know the terrain? Remember, I am scared to drive in a big city. Especially New York.