5 minutes by walking from metro station Staroměstská or Náměstí republiky. Look for tram at transport website of Prague.
You can use virtual parking in the blue zone, where the price is 20 CZK per 15 minutes. The easiest way is to park between 8-11 and 15-19 hours. Online parking payment here.
Next place is in shopping center Palladium or Rudolfinum and then 7 min of walking.