But there are always those who opt to battle the traffic and drive instead. If you need a parking space for an event at Madison Square Garden, your best bet is to book your parking in advance. As you might expect, prices vary widely based on the event and other happenings in the city on a given evening. Spots closest to Madison Square Garden can get quite expensive. You can find better deals if you're willing to walk. Parking is quite scarce; booking ahead helps ensure you don't miss a moment.