Absolutely. Discovery World has secure underground parking available for all guests to use for a nominal fee of $10.
The Pavilion. This is the room on ground level. If you are facing Lake Michigan, the Pavilion is on the left side of the building with floor-to-ceiling glass windows. Another, separate wedding is scheduled to take place the same evening up in the Pilot House room so if you see guests heading upstairs, don't follow them!
There will not be a shuttle service due to the short proximity between the hotel and Discovery World, just under 1 mile! If you prefer to skip the walking, parking is available onsite at Discovery World, as well as other transportation services are readily available downtown including Uber, taxis, Milwaukee's streetcar The Hop and more.