Hi, Cat! by Ezra Jack Keats
Connection to Brooklyn: the author was born in Brooklyn.
Recommended for readers age 3 to 8
On his way to hang out with the neighborhood kids, Archie very innocently greets a stray cat who follows him and gets in the way. The cat ruins everything - Archie's street show is a mess and his audience drifts away. But things aren't all bad: when Archie leaves, the cat follows him all the way home, too!
Viking Books for Young Readers, 1999