Second this. Note that there are 2 departure levels, so make sure you meet them at the right one (Level 2 for the typically domestic airlines or Level 3 for international). Also there are numbered doors so when they arrive on the departure level, meet them at the corresponding door to make your life easier (ascending from Door 01 to however many there are as you arrive into the terminal from right to left).

If you want to, you can wait nearby in Elizabeth or the nearby areas so you're not hovering at the terminals / having to drive in circles. There are fast food places / restaurants if you want to grab a coffee or a snack and then head over in under 10-15 minutes.

As the poster below noted, if they have checked luggage, it's still easier for them to travel up via the escalators/elevators and exit instead of having you meet at Arrivals (Level 1).

Lastly, when you exit, be mindful of cars drifting in and out of lanes since the markings for the highways are very cluttered and your time to merge/change lanes is very short. Have an idea of what highways/roads you want to take and make sure you look for those signs quickly since the exits come up fast. Safe driving and best of luck.