Factual error: The restaurant refuses to take anyone's orders until they're all seated, which means that the group is sitting, occupying a table, without earning any revenue for the restaurant. There isn't a restaurant in NYC that would have such a policy, since it basically guarantees that a table becomes a revenue vacuum. (It also makes for very unhappy customers, but that doesn't qualify it as a factual error, since some restaurants might be actually stupid enough to not care about their return customers).
Continuity mistake: Rachel is telling Ross why she doesn't want to go to the dinner, and she says "the first sign is I don't want to, and...I'm not going'. While she says this, her left hand is completely empty, but then in the next shot the camera goes back to Ross and she is now holding the baby monitor in that hand. It then moves around in different shots afterwards. (00:06:10)