Fast answer
Park outside the old town in one of the Comune's paid zones or car parks, then walk in: the historic centre is a ZTL. Charges run 08:00-13:00 and 16:00-20:00 from October to May (not on Sundays or public holidays), with longer evening hours in summer; the first hour costs €0.60 to €1.00 depending on the sector. The Piazza Mario Pagano multi-storey charges on its covered levels, while the Comune's notice says its open-air level stays free of charge. Then keep Locorotondo and Cisternino as the inland loop, Monopoli as a separate coast day, and Alberobello as the main trulli stop.
If you only do one thing
Choose the paid sector or car park nearest your accommodation before arriving, pay at the meter or by app, and walk into the ZTL rather than driving it. Use one inland loop on one day and treat Monopoli as a different coast day rather than an extra stop after Alberobello. If rail, luggage or a late arrival is the constraint, check the station or new-town edge before committing to the old-town sequence.
See the Comune's parking zones and fees ↓ Compare relevant booking options