Unload your boat at the Essex town launch (closest address: 74 Main Street, Essex, MA 01929), then park at the free municipal lot behind the police department off of Route 22 or in the unpaved overflow lot past the baseball field.  DO NOT park in the central double-long spots in the municipal lot, as these are reserved for trailers.  DO NOT park in the town launch parking lot, the Ripple on the Water parking lot, or on the street.