Price parking appropriately and make people pay for it. If land is cheap, parking is cheap, so not a big deal. If land is expensive, then no freeloading on the streets, which can be put to better use anyways (sidewalks, bike lanes, outdoor cafes etc...)
The car registration and gas taxes don't even pay for a quarter of all road-infrastructure-related costs. It boggles the mind to see free street parking in places like NYC, where a more reasonable cost structure would be something like other cities around the world (and Canada) do: divide the territory in parking districts. Locals can buy a discounted annual pass for the district where their main residence is located (should not cost less than $400/month in a place like Manhattan), while elsewhere the rate should be at least $10-12/hour.
