Drive to a tube line end station and ride. Summer bonus: sauna included in the ticket price.
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Train it usually, but I use the secret catapult sometimes depending on urgency and wind direction
The best way into London is stopping at Victoria coach station and getting on a bus to Scotland or Ireland.
I haven’t done it in years but some tube stations have free parking nearby - like Highgate. You drive to those and then tube in the rest. Mostly only works at weekends or late at night though.
Last time I did this I think I parked at Kenley Road car park and used Morden station to get in on the Northern line. It was a Saturday afternoon so parking was free.
Coach is a really cheap way if you have the time and mental will.
I don't go to London by choice, when I'm sent there for work then company pays for my train fare. When I was younger I would use a coach service because it's cheaper than train.