OK, it was a while ago (1998) when my wife and I did a day trip to Lanai. We parked in one of the many lots located off of Front Street. That said, on our most recent trip to Maui in 2008, we visited Lahaina and the same parking lots were still around. There are no parking attendants in these lots. They have a central station where you can pay for the time frame required. Also, if you are parking long term, don't leave anything in your vehicle inclusive of the trunk. You don't need you vacation ruined because you had something stolen.

With all of that said, my suggestion to you would be call the ferry company direct and ask their advice. They may even have deals set up for discounted rates, tell you which lots to use, etc.

I do have advice on your trip to Lanai, go four wheeling. Back in 1998 there was a company that rented Land Rovers and Land Cruisers. I don't think they are around anymore but what a fun time we had.