You can drive and there is a parking garage. However, the T is much more convenient. take the Orange Line to North Station and switch to the Green Line and then get off at Science Park West End.
There is a parking garage next to the museum. If you are looking at it from the front it is to the right. Parking is very challenging there when it is crowded so be aware of that. The T is much easier or a bus.
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https://youtu.be/9iqK90pMuFY?si=zqhgxDIYVPKfD7gJ
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