Fanelli's at 94 Princestreet (right in the middle of SoHo) is one of the oldest restaurants in Manhattan and locals call it the downtown institute. A wonderful place to sit down and relax on or after a busy day. Think of beer and burgers. Or, what we had while sitting at the bar; a delicious chicken soup which really warmed us up good.
The atmosphere is low-key and the staff is remarkable. Go and see for yourself. It's usually overcrowded during lunch and dinnertime but with a little luck you'll find a spot.
Photo via Habitually Chic