Some of the best places to pull over, particularly for a short sleep, are rest areas and truck stops. Here, you'll generally find 24-hour bathrooms, and perhaps other services depending on where you are.
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7 Places You Can Park Overnight & Sleep On A Road Trip
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.
Although there is no federal law against sleeping in a vehicle, staying in your car overnight is illegal in some states and cities. Laws about sleeping legally in your car vary across states, counties, and cities.
If you are the driver in charge of the vehicle it is illegal to sleep in it 'on the public highway' this includes laybys! Even if you take keys out of ignition, sit/lie in a place that is obviously not the driving seat, it is still not legal.
Turn Off Your Car — Never leave your car running overnight. Keeping the engine running can lead to dangerous carbon monoxide poisoning. Make a Bed in the Back Seat — If you can, fold down the rear seats of your car to create room for your bed. If you can't, sleep on the back seats.
Parking garages. Park in heavily trafficked parts of the garage, or on the top floor, NOT the bottom. You're less likely to have someone try to break into the car when there are a lot of people around.