I would tell you to go the way we came back from maryland...but you were PASSED the F*CK out.
206 is one CRAPPy road if ti's during rush hour. it's one lane for most of the way and it's loooonggg.
Look on the map before you go...but definately do this:
Rt.287 to Rt.202 to Rt.202/31 to Rt. 179 south to Rt. 29 South to Rt.95 south. You go along the border of NJ till you hit 95. Let me know if you're foncused.