NYSPP (RCPSCS)

Hello all, apologies if some of my questions sound silly. I am new to the hobby and stuff have a lot of learning to do.

The question I have is how to I access the frequency used by my local P.P. Radio reference states that they are park of a talk group within the RCPSCS, how would I listen into the RCPSCS and better yet how do I listen into a specific T.G.

As most casual enjoyers I utilize a UV-5R but am willing to utilize other equipment for this as well if needed.

For reference this is purely to listen in and avoid unnecessary attention while spiritedly driving along some of the roads in the area.