Most central street parking costs €2.10 per hour from 9am to midnight Monday to Saturday and 11am to midnight Sunday. It's much cheaper to use P+R (park and ride) lots, notably at De Vliert which costs €4 per day and includes a free bus transfer for up to four passengers (bus 70) into town (or short-term bicycle hire as long as the bike is returned the same day).
Bicycles are available to hire from Fiets RataPlan the cycle garage beneath the train station (enter via the tunnel west of the golden dragon roundabout). If you want electric bikes or more gears try Kemps Bike Totaal, which has seven-speed city bikes.
Blauwe Engelen Volunteer drivers make free anticlockwise loops around the city via all the main tourist sights in eight-seat minibuses: first come, first served. Departs every 15 minutes (or every half hour November to March).