Yes parking can be expensive in San Fran and with a City this compact, and with good transport links, it's easy to get around without a car. There are some Hotels that offer free parking to customers which are mainly away from the centre, such as a few on Lombard/Gough St that is not too far from the Piers and trams into the City. One such place that we have stayed in, that we found quite basic yet clean and good value was the Buena Vista Motor Inn. This was a while ago, but as you can see there are more recent reviews that I can relate to.

I am not a great fan of City life, but I loved SF and no trip is complete without a visit to Alcatraz !