Navigating from Verrazano-Narrows Bridge to Floyd Bennett Field

[sydmargo]

In 2 weeks I will be traveling with my motorhome to National Gateway Park at Floyd Bennett Field in Brooklyn.  I will not be using Belt Parkway, which does not permit RV's.

I will be coming across Staten Island NY and using the Verrazano-Narrows Bridge into Brooklyn, NY.  Can someone give me the best route to travel with my motorhome.