Handicap access to New Jersey Transit trains at New York Penn

I will be in New York in May with my traveling partner, who is disabled, who walks slowly with a cane. We may be traveling separately from there to Princeton, NJ. He would take a taxi from the hotel to the station, but the difficulty is in directing him to his train, which could be on various tracks. I used to go in and out of there all the time, but under the previous setup, before the new NJT concourse was built, I don't think there was direct elevator access to Tracks 1-4. Last year I boarded a train off Track 1 or 2 via an elevator from the newer southeast concourse. I don't want him wandering all over the station looking for an elevator, and he is skittish of escalators. He could use some assistance here for sure, but I don't think the Amtrak redcaps service NJT trains. Could one of you fine New Yorkers provide us with some more definitive information? Thanks.

My friend would be traveling midday, not at rush hour.

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