I live in pa and I work in ny, they take state taxes out of my ny income. They do not take taxes out for me living in pa. so in pa I have to pay estimated personal income tax by the quarter. How can I get ny to take tax income out for pa instead of ny

Talk to your employer and ask them to withhold some for PA as well as for NY.

If you are present in a state, then any income earned during this period, must be reported to the state.

To your resident state, you must report your worldwide income for the year or for the residency period. If you paid taxes to another state, then you will claim credit for those taxes.
Read: Your U.S. Tax Return: Working or Living in Two or More states