You can stay at the Best Western in Jupiter. It is on US1, a short trip to the beach. ~$220 a night.
810 S US Highway 1,
Jupiter, FL, 33477, United States
Jupiter Waterfront Inn is on the Intracoastal Waterway. Water sports close by. And again, a short ride to the beach. Beach Parking for both are pretty easy.
A couple other possibilities are the Wyndam Resort at Harbourside, as it is in a complex of shops and restaurants on the IntraCoastal. Or you could stay at the Courtyard Marriott in Abacoa in Jupiter. Right across the street from the Marlins/Cardinals spring training stadium.