Maastricht carparks

I plan to rent a car in Brussels to drive to cities outside brussels. First place is Maastricht. I will be leaving from Tervuren. I guess the satnav route is the easiest route to take - but can anyone tell me the easiest carpark to focus on (easy to access and exit)unfrantic etc as i am nervous about driving on right). I dont care about the cost of the parking - more focused on surviving it intact. thanks