When I visit Amsterdam, I never travel by car. Parking in Amsterdam is between 5 and 7 Euro per hour, if you even find a place. I pay 5 Euro for a return ticket by train and the center is a short walk from the train station.
I love the view on the trip from Haarlem to Amsterdam. Taking pictures through the window of a moving train, was a challenge I had to take.
Canon 700D - 24 mm - F2.8 - 1/1600 - ISO 100