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As you drive into St Ives, there is a sign saying Visitor Parking, just after the Chy-An-Albany hotel. Take the left turn and follow the signs to the car park. It's worth going there (£5.30 for the day run by the Council) and saving a lot of hassle about trying to find a space closer to town.
There is an interactive map - showing this car park and others in town on:
St Ives Cornwall - Parking