If you are traveling at any time EXCEPT weekdays between 4 and 6:45 PM:
Take the Uptown B train (of the B-D-F-M, the orange line) or Uptown C train (of the A-C-E, the blue line) from 72nd Street (at Central Park West) to 125th Street or 145th Street.
Transfer at 125th or 145th to the Uptown D train to 161st Street-Yankee Stadium.
If you are traveling on a weekday between 4 and 6:45 PM:
Take the Uptown B train from 72nd Street to 161st Street-Yankee Stadium.
The B train only stops at Yankee Stadium during morning and evening rush hours in peak directions, when the D isn't stopping there. The Downtown (Manhattan-bound) Dskips the 161st Street-Yankee Stadium stop from 6:15 to 9 AM on weekdays, and the Uptown (Bronx-bound) D skips the Yankee Stadium stop from 4 to 6:45 PM on weekdays.
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Assuming you meant the Jamaica Station on the LIRR (Long Island Railroad): connection is available from this station to the Sutphin Boulevard-Archer Avenue Station on the E train (of the A-C-E, the blue line) and the J-Z (the brown line).
Take the Downtown (Manhattan-bound) E train from Sutphin Boulevard-Archer Avenue to 50th Street in Manhattan. Transfer at 50th Street to the Uptown C train, one stop, to 59th Street-Columbus Circle. Transfer at 59th Street-Columbus Circle to the Uptown D or B trains (of the B-D-F-M, the orange line) to 161st Street-Yankee Stadium.
The Bronx-bound D train does not stop at 161st Street-Yankee Stadium on weekdays from 4 to 6:45 PM, so if you are traveling during those times, you have to take the Binstead. Don't take the B unless you're traveling between 4 and 6:45 PM on a weekday, because the B only stops at Yankee Stadium when the D isn't stopping there.
If you meant the Jamaica-179th Street Station on the Ftrain, then, take the Downtown (Manhattan-bound) F to 47th-50th Street-Rockefeller Center, and transfer there to the Uptown D or B (same thing: only take the Bbetween 4 and 6:45 PM on a weekday. Otherwise, take the D).
No, the 6 does not stop at 161st Street-Yankee Stadium, but the 4 does. You can transfer from the 6 to the 4 at 125th Street in Manhattan.