There are few places to park in Rochester which is cobbled and pedestrianised. When you park in the pay and display car park, after you have visited Rochester there is a free shuttle bus to and from Chatham, where there are a number of High Street chain shops like Debenhams, Primark and Argos.
Train from London Victoria to Rochester (45-60 mins journey time).
Also you can get a direct train (no change needed) from Dover or Canterbury to Rochester.
If you come by car there are quite a few car parks with very reasonable parking prices..the main car park is Blue Boar Lane, there are also car parks at the Market (not Fridays or Saturdays) and around the historic city.
For more information on Rochester, please write to our Tourist Information Office, High Street, Rochester, Kent, ME1, England