So my family is coming in - just for one night - and I want to take them out to dinner someplace good. Unfortunately they can only do midtown area, near penn station & times sq. I don't want anything too touristy or tacky - something actually good - but simple is good as well. Any suggestions? My experience (I live on the UWS) is that everything over there is over the top, overpriced, and not really that good.