Citation flight crew overshot altitude restriction on TEB 5 departure.

Narrative

After departure from Runway 24 at the TEB airport; I climbed to an initial altitude of 2;000 FT MSL instead of the 1;500 FT initial altitude depicted on the Teterboro Five Departure. When we checked in with New York Departure as we were passing through 1;700 FT; he told us we should be at 1;500 FT. He then immediately gave us a climb up 4;000 FT. Events that contributed to the deviation: The flight was supposed to depart at a set time; but the passenger called and wanted to depart as soon as possible; which was approximately 2 hours early. The actual airplane I was to fly for the trip was being flown into TEB by another crew; and it had not yet arrived. These two things created a tremendous sense of rush in my mind and caused me to hurry and rush my preparations for the flight. As I was reviewing the weather and NOTAM's I read a NOTAM regarding the TEB Five departure. Even though I knew I would be departing off or runway 24; due to my rushed state of mind; I was thinking of the procedure for departing off of runway 01; which has the initial altitude of 2;000 FT. When the other crew arrived; they helped us prepare the aircraft for our flight. They got the clearance via PDC and set up the FMS. As the other crew set up; they set 2;000 FT into the altitude selector. And because I was thinking of the procedure for Runway 01; when I saw 2;000 FT it registered in my mind as correct. When we were ready to depart; we called clearance delivery to see if there were any delays. We then found out we had a complete change to our routing. As we manually entered the new routing into the FMS; the FMS dumped the flight plan twice; which further added to my rushed state of mind. When my Copilot and I briefed the departure procedure; instead of looking at my copy of the procedure; as I usually do; I just looked over my Copilot's shoulder as the procedure was briefed. Even though the correct departure procedure was briefed; my mind was preoccupied with all of the other aspects of the flight; and because of this; I failed to catch and change the altitude selector to 1;500 FT. As I recall the events that led to the mistake; the altitude deviation was due to my complacency of having operated out of Teterboro on many occasions; as well as the tremendous sense of rush that I placed on myself. Even though I have done that departure on many occasions; I realized that does not matter. I have to slow down and concentrate on what I am doing at that time and personally review the departure/arrival procedures for every airport every time.