Yes, at the south entrance you will need to pay a $35 fee per vehicle that is valid for re-entry into the park for the next 7 days.
Our coordinator has warned us that the parking lot may be full so you will want to arrive at least 30 minutes early in case you need to wait for a spot to open. If lot is full you can also circle back and park at the visitor center instead and walk to the amphitheater which is a half mile walk.