I would suggest that you park your car and walk, the streets are quite narrow and Medina Sidonia is a small village. I must also add that there are a bit steep hills at times, but you also have many bars and restaurants to have a refreshment. Most of all the attractions are in the old part of the town. I didn’t find much problem in parking my car, it could be that it was February and there where not too many visitors. There are two parking lots, just past the arch of the city hall (see the photo of the City Hall). Both of them are free of charge.
OK so this is a good opportunity to show off Stace and Carmen's awesome vehicle, the KIA which is a sports utility vehicle. It was a great and very comfortable car to EXPLORE ANDALUCIA. It was incredible, the way it had no problem going up steep hills and it had a feature which we sure could use - a back-up beeper which gets louder as you get closer to another car while parking. Hansi, we just have to have that feature in our next vehicle - more for you than me LOL.