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Parking at the castle itself is only available for disabled visitors, but there are several car parks nearby in the city centre. These are sign-posted and charged-for (not managed by English Heritage). Devonshire Walk car park (CA3 8UL) is next to the castle (not managed by English Heritage).
In Carlisle city centre. Follow Castle Street, past Carlisle Cathedral on left. At main road, take underpass to the castle.