This is a fantastic museum in quaint downtown New Haven that has free entrance and free parking despite that fact that they hold first rate exhibitions. There is always a lot of things to see and a lot of interesting information
The current exhibitions include "Escaping from Famine: Trips from Ireland," and "Beyond the Front Lines in World War I." Other exhibitions have included "Creches from Around the World", "How the Bible was Made" and the process, "Rare artifacts and exhibitions from around the world," "Mother Theresa", and many more. They even have a video room like in the science museums, and they have a pretty big store where you can buy related products.
I recommend getting lunch on a Saturday or Sunday in Downtown New Haven and then going to the museum for a nice afternoon.