The crash happened on Route 17 in Tuxedo in Orange County at about 10:30 a.m.
The driver of the car was killed, and Tuxedo Town Supervisor Mike Rost said there were about a half-dozen passengers on the bus who were transported to the hospital.
Passengers on the bus who were not hurt were taken to a local school to stay out of the cold.
The roadway remains closed as an accident reconstruction unit works at the scene.
The bus was heading to Port Authority.