This map shows the location of the ICA in relation to Macalister Hall of Drexel University:

You can get to ICA by walking along Chestnut Street and then turning south (left) on 34^th Street and west (right) on Sansom Street. The trip should take you about ten minutes. If you leave a bit early, you can stop as you walk along Woodland Walk and read the quotes carved into the benches and borders of the walk. These constitute another work of modern art by Jenny Holzer, commemorating 125 Years of Women at Penn.

Link to ICA website.