You can easily park underground under the Gambetta square. From there you can start the walk.
At the castle of Carcassonne, you can also take the paid tour, which is definitely worth it. There are quite a few people, that's the only downside.
This walk goes through beautiful streets towards the castle, and then back towards Gambetta square.
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<p><a class="routeYou_embed" href="https://app.routeyou.com/en-fr/route/view/15337353?utm_source=embed&utm_medium=article&utm_campaign=routeshare&navigation=external" title="Family walk in Carcassonne - RouteYou" target="_blank"><img src="https://image.routeyou.com/embed/route/960x670/15337353-en@2x.png" style="width: 100%; height: auto;" alt="Family walk in Carcassonne"></a></p>
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