Linlithgow is easily accessed by road from all directions.
Access By Car
From Edinburgh
Take the M9 Motorway from Edinburgh, which is signposted to Stirling. Leave the M9 at Junction 3, which is signposted to Linlithgow and Bo'Ness. At the end of the slip road turn left and enter Linlithgow on the A803 (Blackness Road) from the east. At the roundabout just past the Tesco supermarket turn right onto the High Street and proceed to The Cross where there is "Pay & Display" parking.
From Glasgow/Stirling
Take the A80/M80 from Glasgow towards Stirling and then the M9 towards Edinburgh. Exit at Junction 4 and take the A803 to Linlithgow. You will cross the river Avon at Linlithgow Bridge and should proceed straight on, past the roundabout at the Westport, to the High Street and proceed to The Cross where there is "Pay & Display" parking.
Alternatively you may prefer to use the M8 Glasgow/Edinburgh motorway, in which case you should exit at Junction 4 to the A801 and then fork right to the A706, which is signposted to Linlithgow. You will arive in the town at the Leisure Centre. After passing under tha railway (traffic lights) you should turn right at the roundabout on to the High Street.
From Fife & The North (Via the Forth Road Bridge)
Take the M90/A90 and cross the Forth Road Bridge (no tolls going south). Exit left immediately after crossing the bridge and take the A904 (3rd exit from the roundabout) you can then stay on nthe A904 until it reaches a "T" junction at Champany wherer you should turn left for Linlithgow on the A803 or use a shory stretch of the M9, exiting onto the A803 at Junction 3. The A803 enters Linlithgfow from the east as Blackness Road. At the roundabout just past the Tesco supermarket turn right onto the High Street and proceed to The Cross where there is "Pay & Display" parking.
From Livingston
Take the A899 main spine road north from Livingston and cross the M8, straight on at the next roundabout and then left at the next taking the A89 into Dechmont. 100 yards into Dechmont turn right and take the hill road to Linlithgow (it is twisty, but in good repair), entering Linlithgow via Manse Road. Turn right after crossing the Union Canal and left under the railway (traffic lights). Straighgt on at the roundabout is the High Street.
From the South
Either come via the M8 motorway (see alternative access from Glasgow above) or take the A706 from Lanark and the M74 (leave the M74 at Junction 13 at Abington and take the A73 to Lanark via Hyndford Bridge. Take care with the A706 turning in Lanark as it is easily missed! Alternatively (my preference) by-pass Lanark by turning right onto the A70 just past Hyndford Bridge. Follow the A70 to Carstairs then left onto the A721 and right at the roundabout onto the A706.
Car Parking
Visitors will normally find "pay and display" car parking spaces available at the Vennel Car Park, located in the centre of the town next to The Cross. (see Town Centre Map)
Limited parking is provided for visitors to the Palace and this is located at the top of the Kirkgate, through the Palace gateway. There is also free short term car parking for shoppers at The Regent Centre (max 2 hours) and a number of 30 minute parking bays along the High Street.
But note that Linlithgow is a busy commuter town and there is a lot of demand on parking due to those who leave their cars in the town and take the train to Glasgow or Edinburgh. There are active parking patrols, so do not exceed the permitted times or park where it is not allowed.