Semur-En-Auxois is a charming little town. Very walkable with some nice views, a nice river and…read morewalks. Parking in the historic park is difficult and very limited. This parking lot here is at a museum, but also free to park without a visit to the museum. No fees. It's really just around the corner from the old town. To go down to the river it takes a while though...and again to come back up. But it's an easy and safe parking option. At no cost. So it's still a very good choice.