Tour co that will pick up at Manhattan pier, do tour, then drop off at LaGuardia

[pajammies]

We are looking for someone that will pick us up at Manhattan pier, do a tour or even let us pick where we want to go and then drop us off LaGuardia airport. I have seen a few threads here but most people seem to have a hard time finding someone that will hold luggage too! Has anyone found a company that will do this? Thanks in advance.:)