Under the Rotunda (see image/map above)
Yes, there is street parking available on Baker St as well as dedicated parking lots on the Northwest side available via Marina Blvd. We recommend arriving a little early to ensure you find a spot and have time to walk to the Rotunda.
Formal
Yes, there is a parking, though the closest option may require a fee
The two locations are about 1.2 miles apart so you have several options. You can drive, carpool in Bryce's Rivian or (if you are wearing the right shoes) you could walk!