where is the best beach(clean, nice sand, medium waves, safe parking) in the general area of Rosarito?
There are lots of them. Basically, Rosarito is one very long beach town, and the beach continues as you go south. The beach right in town is nice and it has the added convenience of restaurants that are easily accessible. As you drive south from town, you'll see opportunities to park and go to the beach. Those spots are safe during the day. There's a wonderful beach in front of the La Fonda restaurant (google La Fonda and you'll find it); it continues for a very long way. If you continue on south toward Ensenada on the free road (not the toll road because it has few places to get off), you'll find many opportunities to enjoy beautiful beaches. There is a particularly nice one located about the point where the free road turns inland and heads into the wine valley: white sand, wide, just really nice.Edited: 15 July 2017, 16:00
I think you will find La Paloma highly rated on Trip Advisor, if you are looking for a place to stay. The public beach (turn west at the Banamex bank) has what you seek without a drive it but can be busy on holidays and weekends. Paid parking, so safe for your vehicle.
Could you give me a little more details where exactly the public beach you are referring to is located.
All beaches are public, so just park the car and walk to the beach--you'll be within a block or two.
I would just head down to the downtown tourist blvd area in Rosarito. As others have said, Rosarito is basically a long beach. The beach areas behind Rosarito Beach hotel and Festival Plaza are good bets for a family. If you want good cheap parking, there is a nice parking lot across the street from tacos el paisano behind the Gym.
To get to the southern end of the beach take the last Rosarito exit from the toll road ("La Paloma"). Turn right off the exit. You'll see the Rosarito Beach Hotel on your left, can't miss it. If you want the cheap parking that Gabriel M referenced in #7, go under the iron sign that says "Zona Rosarito", go two blocks, and then turn right at Tacos El Paisano (stop and have carne asada tacos).