From the Black Falcon Terminal, you can take the Silver Line (looks like a bus but is actually considered part of the subway system) directly to South Station - takes about 8-10 minutes, depending on traffic, and the fare is $2 each way. You pay as you board. The Silver Line stop is about 200 yards from the terminal - you'll see the sign.
You could also take a taxi, but for 5 people and luggage, you'd probably need 2 cabs - and the Silver Line is faster and much cheaper.
From South Station, you're about a 5-15 minute walk to most attractions in downtown Boston, the North End, the Freedom Trail, Faneuil Marketplace, Chinatown, Boston Common, the Public Garden - and much more!
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