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Matthew and John and Peter were apostles and were undisputed eyewitnesses to every event in the ministry of Jesus. Mark was a close disciple of and almost a secretary/scribe for Peter, and several of the early church fathers termed the Gospel of Mark "the memoirs of Peter". Luke was a close companion of Paul, and he made clear in his Gospel that he had investigated everything from a historical standpoint, and had talked with many eyewitnesses.
Paul, although not an apostle, was a strict Pharisee and a student of Gamaliel, in Jerusalem. It is possible that he witnessed some of the events, but he certainly heard many accounts from eyewitnesses during His ministry. Later, Paul was an eyewitness of the resurrected Jesus (a requirement to be an apostle) and received direct instruction and revelation from Him.
James and Jude were the half brothers (sons of Mary and Joseph) of Jesus and obviously were close eyewitnesses of much of the life of their brother.
That leaves only the author of the Book of Hebrews, and the consensus among Bible believing Christian scholars is that Paul was the author of that epistle.
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