Park, walk, hunt, find, look casual, drive away, grin.
If that sounds exciting to you, then GO FOR IT! If not, let someone else.
Be considerate, be friendly, be aware. You will be parking in a neighborhood where school buses drop off young children, where young families may be walking (I got to meet a 3-year-old and his Dad), and where older folks may be walking their dog. PLEASE don't act suspicious...if you can help it.