We arrived in Sabrosa driving from Régua. The road is winding through the mountain and provides a beautiful background. The signs are clear and I'm sure you won't get lost. Also, driving from Vila Real it's easy, since there are a lot of signs showing the way to Sabrosa.
Once in Sabrosa parking the car it's easy - try the tiny parking space by the Parish Church. If there is no room available, drive to the Town Hall: there you will find some parking space for sure.
Being a small village everything is at hand, so, once you get there, the best option to move around is to walk. Strolling around the cobbled streets will take you to some nice places, such as some alleys and flowered backyards.