Leave your car at the hotel

I'd suggest you refraining from driving in the city. Medieval cities were built on a human scale and not for cars. They are better explored and enjoyed on foot. 

European cities will lose a lot of their charms if they are built for the convenience of driving. Whey you drive in a crowded city, you are a liability not just to yourself, but also to other people on the street. The less the traffic, the more enjoyable a city is. So please leave you car at the hotel next time your visit a city in Europe.