Students are generally happy with the amount of available parking on campus. Freshmen aren't allowed to have cars or get permits, which has alleviated the parking problem. There are lots around campus where parking is still an issue, especially in large dorms that house all upperclassmen. In the worst case, you will have to park a two- to five-minute walk away from your dorm during peak parking hours.
In general, having a car at Stanford will be fairly convenient. You can park right near your dorm during the day, and drive around and park at your friends’ dorms across campus later at night. At $130 for a permit, it’s pretty affordable. However, since incoming freshmen are not allowed to park on campus, they have a whole year before parking will be a problem for them.