There are a few parking lots across the street from Pier 33. There is one on the corner of Bay and Embarcadero. There is another at 55 Francisco st and a third called Waterfront Plaza lot #55. Be aware that prices for parking in this area can vary greatly, as little as $8-10 for all day, to as high as $6 an hour. It is even better to take public transportation when possible. Muni and/or BART will probably be the easiest and definitely cheapest way to get here. Bike racks are available at the terminal.