Here's a good free place for parking in Avignon: in the centre of Avignon go across the Pont Daladier, and take the first right. Great free parking spaces by the river, and it's a perfect photo opportunity for the Avignon bridge.

Either walk back across the bridge for direct access to Avignon walled city, or walk down the river and get the free ferry across the river.

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If you're in Avignon with a car, go to the free park and ride on the Ile Piot. The buses drop you by one of the main city gates and run every 10 mins or so.

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