The goal of driving is to get from point A to point B. But when point A and point B are a 5 minute walk, why drive at all? Well, in America we designed our cities and suburbs to make the distance between A and B as large as possible. But we didn't have to do that!
Discouraging driving is a reasonable public health measure for a safer society.
As for parking, well, it's market price. It's expensive because parking has been subsidized as the default in vast majority of the world.