Beth, consider taking the El or Metra! There's a bunch of El stations with $1.50 parking, and I swear it's the most stress-free way to travel downtown. Once you've done it once or twice, you will just waltz on board with a book or a crossword puzzle, sit down, and relax for 20-30 minutes.
I go downtown every day on the El, and when I'm reading a great book, my commutes are the best part of the day.