Coming from MILANO, GENOVA
Most Intercity trains will stop at Monterosso Station, get out and take the regional train to Vernazza, Cornilia, Manarola and finally Riomaggiore. If you miss that station, you can also get out in La Spezia and take the regional train back to Cinque Terre.
Coming from PISA, FLORENCE OR ROME
Go to La Spezia Centrale and then take the regional train to Riomaggiore, Cornilia, Manarola, Vernazza & Monterosso Be careful, not all trains will stop in each village. Look at the yellow departure schedule on the wall. A ticket cost 5 euro every time you get off & get back on. Buy the Cinque Terre train pass at train station or information office.
For regional train schedules: www.trenitalia.com
For Intercity: www.trenitalia.com
Except for deliveries and special permission, cars are are not allowed into most of the villages. Monterosso is an exception. You can park at designated parking areas in each town for around 30 Euro/day. Parking is very limited! There is a parking garage at the La Spezia Centrale train station, but get there early.
If you stay at a hotel ask about parking. Some places do provide it.
The best way for long term parking is in La Spezia at the Train Station Parking Garage.