I take metra to millennium park. Sorry never drove
Street parking , you have to pay by the hour or download app and pay thru the app. Can be. costly. West of Randolph , before Wabash on North side of street is a parking lot with Theater special after 4 or 5 pm. Price varies. Always check the lot closing times. Millennium has underground parking very costly.
The Millennium Park garage is connected to the theater by elevator, and the orchestra level box office will validate for a discount. Enter at 5 South Columbus Drive, just south of Madison. From Lake Shore Drive, exit on Randolph and go west to Columbus and turn left. Follow signs to Millennium Park Garage.
There are multiple parking lots including the massive underground Grant Park lot. The closest vehicle entrance is on Michigan Ave between Washington and Madison but there is an exit in Millennium Park nearby Harris Theatre. There is also a Millennium Park garage at 5 S Columbus.
Thanks! Your answer is awaiting moderation.