To take the Kennedy (I-90/94) into Chicago from the North, take exit 50B for Ohio St E. From there, you just need to go a take a right onto Clark, go a couple of blocks, and turn left on Illinois, which takes you straight to Navy Pier. (You don't need to choose Clark, basically any street up to Wabash will work, but after Wabash things get tricky because many roads don't go through or just go over Illinois rather than connect to it.)
As Ike gets close to the city, the right two lanes will go to North and Southbound I-90/94. You'll instead want the left lanes which continue on to Ida B Wells (formerly Congress). After you lose I-90/94, head over to the right lane and take the exit for Wacker Dr and Franklin St. After taking the exit there are two quick splits, stay left both times: first following the directions for Wacker (rather than Franklin), and then for Lower Wacker (rather than Upper). Once you're on Lower Wacker, just follow the traffic. Wacker turns a few times to stay with the river, but you just follow traffic the whole way. Once you see Michigan and then Columbus, you're getting close, but keep going straight. At the end of Lower Wacker, you'll emerge into the sunlight and pretty quickly need to turn onto Lake Shore Drive at the light. You'll want to turn left, but to choose the right-most of the lanes going left. Immediately after you turn onto Lower Lake Shore Drive, there's an exit to the right for Navy Pier. Follow that, and take the first right to bring you out to Navy Pier.
If you're coming from the Southwest and the Stevenson (I-55) is the best option into the city, take it to Lake Shore Drive, and follow the instructions from the South.
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