I will not recommend to bring your car. Traffic is always a problem over there. Best mode is metro.
Okay if you don't want to spend money , you could park your car at Majnu Ka Tila gurudwara which is walking distance from the cafe. Tried and tested
Valet parking outside the cafe
There's a parking(chargeable) right outside the Ama cafe market on the main road . Just give them the keys its kinda Valet.