There are two parking spots: One coming from Sandulesti (big, crowded and sometimes you have to pay for it). This is close to Peretele Cald and Pestera Ungureasca.
Another parking spot at the other end of the gorges (coming from Petrestii de jos) is smaller but free of charge, not so crowded and also offers some camping places (also, more suitable if you travel with a van).