There are three options, which you can use for short term parking.
Parking directly at the terminals lots. Each half hour is $5.25 in the first 3 hours of your stay. After more than 3 hours the rate increases to $10.50 for each 30 minutes.
Parking at the Daily Parking (Garage P4). Each half hour is $4.25 in the first 3 hours and after that, it is double. The rate is a little bit cheaper compared to terminal parking, but to get to the terminals the AirTrain has to be taken.
If you are looking just for a pickup/drop-off, then the Cell Phone Lot is a good choice, because of free parking. It is located at next to the Daily Parking Garage P4 and has AirTrain access. Because it is not allowed to stop at terminals with your car, make sure that your guests, friends or family members come to the Cell Phone Lot via AirTrain, because it is also not allowed to leave your car unattended at this lot.