From the A30 follow the signs to the Town Centre along Western Road.
There are several car parks including a multistorey car park behind the Town Hall. It is a pleasant walk across the Castle Green to the Museum.
Click here to view a google map of the Museum’s location. (Open in a new window)
You need at least 2 hours to do the Museum justice so make sure you park for long enough.
On the other hand, admission is free so you can come whenever you like, as often as you like