We actually drove in to the city. But I would just say use your Google maps and just make sure you don't miss a turn because the roads are crazy in Pittsburgh. If you miss a turn it will take you 5 to 10 minutes to get back on track.
Taking lyft or uber is a good way to avoid paying overnight parking fees
Rental car or get a uber/lyft
I had a rented car. I couldn't tell you how any other way.
We used GPS too and then turned onto Grant, went down a block to loop the parking garage to the west of the hotel.
I agree just use google maps and pay attention. Lots of one way streets sk maybe give yourself some extra time just in case you do get turned around.
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