From the Amsterdam ring-road (A10), take the exit 'Volendam / Centrum' and follow the signs to 'Centrum'.
After passing through the IJ tunnel, take the first right, towards the harbours. You will be on Prins Hendrikkade.
Continue along Prins Hendrikkade until you pass Centraal Station (a magnificent brick building on your right). You will then see a large parking building: Amsterdam Centraal.
Alternatively, at this point you could turn left at the traffic lights onto Nieuwezijds Voorburgwal, which is a part of the city loop. This loop runs in a large circle via Spuistraat, Muntplein, Rokin, Dam and Damrak. On the way, you'll pass two large parking buildings: De Kolk (on Nieuwezijds Voorburgwal) and the parking building of Bijenkorf (on Damrak). The latter is very close to the Beurs van Berlage.