Where is public parking

Lots of pay to park around but expensive

There are some parks around but it's either expensive or hard to find a place. Take public transports or walk if the weather is good. Pier 33 is relatively close to SF downtown center.

There is some by the pier but your best bet is walk or public transportation

I would agree that using public transportation or walking is your best choice. I do realize if you drive into the city for other reasons parking would be a necessity, however my wife and I are both over 60 years old and have very little trouble walking literally all over downtown San Fransisco.

I would suggest using public transport or walking there

There is a parking ramp a few blocks away

On the street at meters or across the street at one of the pay parking lots.