Directions for dropping your car off - get onto Bridge Rd - which runs from Parramatta Rd at Stanmore, crossing Ross St Glebe, Glebe Point Rd and continues all the way down to Pyrmont past the fish markets and along to the Pyrmont Bridge, its just beside the rail bridge that goes over the road - you can't miss it.
Well - if your car is already there - the light rail stops at the door so is probably the most convenient public transport to pick your vehicle up. It would only take about 15 minutes to walk along Pyrmont Bridge Rd from Darling Harbour too. Or a short down-hill walk from Glebe Point Rd which is serviced by 431 and 433 bus routes.