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The train is a great option. We tend to drive, though, because we just go in for the day and come back late at night. Parking at Soldier Field is $15/<12 hours, $30/day, and right next to the Field Museum, Aquarium, etc. After we went to the Field we just left the car there and walked downtown, though we could have taken a bus. It was the cheapest under-roof parking we'd come across in the city.
(If there's an event going on, the rate increases, so check before you go.)
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