Parking in Whitby can be difficult but not impossible; it really depends when you are going. I go regularly and always manage to find somewhere to park. I may have to drive around certain places for several minutes but I often park on a road parallel to West Cliff or if you go down Love Lane across the mini roundabout and straight towards the sea there are places there to park with no restrictions and it is a lovely walk along West Cliff to get into the town. At quiet times of the year I use Cliff Street car park which is small and in the town centre.