Typically you will be given the TEB5 departure. Study it closely. KTEB is very close to Newark KEWR. The TEB departure procedure keeps you below the KEWK traffic.
Expect departure delays during peak traffic times (most of the day). Consider KHPN (White Plains) or KSWF (Stewart Intl.).
TEB5 page 1
TEB5 page 2 Your clearance should be available on "clearance delivery" 30 minutes before your filed "takeoff time," (not EOBT here). When you contact clearance delivery you will be given the bad news about delays if there are any.
NY Center and Approach do a great job. The tower folks at KTEB tower can be a little crabby at times, but they are not staffed adequately, so be patient.
Enjoy your visit.
