So if you're on a motorway and pull into a service station or a legal rest area, you can sleep in your car. Likewise, parking on a street or car park and sleeping is legal however you need to be aware of any restrictions. For example, most service stations will fine you if you park for longer than two hours.
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Land in Britain is typically owned by someone. So, if you want to partake in a bit of 'wild camping', you'll need to get explicit permission from the landowner. If you don't, you could be in breach of the law.
You can park anywhere as long as it's not forbidden. Car camping is allowed in most European countries, except Slovenia that fines heavily sleeping in the car outside of the designated (and very expensive) spots.
The policy of Walmart welcomes RVers to spend a night in their parking lot, as long as you have the individual location's permission. In some places, city zoning laws or ordinances will prohibit overnight stays in parking lots. Typically, larger cities are most likely to have these types of restrictions in place.
It is very popular in Scotland as there are special routes permitted to do this on such as the NC500 and the SW300. Typically, you can stay there for one night as long as you clear up any rubbish. Problems only occur when you begin to set up awnings, chairs or stay for multiple days.
Parking and sleeping spotsHere you can stay and sleep in a van or any car, in any public parking, paid or free, for a maximum of three days. There is a law for that.
It is legal in Scotland and some parts of Dartmoor. However, if you are respectful and use common sense, then it is generally tolerated at other places as well. A car camping awning or rooftop tent will get you a lot of unwanted attention, so I would stay away from these unless you are in a very remote area.