Rehoboth is the closest, you can park in the lot north of town off Henelopen Ave. If you get there early enough. I do not know how the parking works nowadays but it used to be an asspain to feed the meters, I think they have a new system that is easier.

i usually do this in OC, going early when parking in the inlet lot is easy to find. that way we hit the beach in the morning, use the outdoor showers to wash most of the sand off, play arcade games and walk the boardwalk, then go. if too tired to make the drive back but don't plan on going back to the beach the next day, you could likely find a good cheap room w/ free breakfast in salisbury. (especially if using hotwire/priceline)

Check out Delaware Seashore State Park. It was featured on Getting Out of D.C. at http://gettingoutofdcdaytrips.blogspot.com/2013/08/delaware-seashore-state-park.html.

As a tip, you can follow Getting Out of D.C. on Facebook. It's a great way to find fun things to do around D.C.

where do you stay in rehoboth that does not have a two night minimum?

We're going to Rehoboth tomorrow, and staying 1 night. There should be some street parking, or maybe a lot a but up the road. You could drop the family off by the boardwalk, then park up in a lot and walk back.

We would like to take a day trip to Rehoboth/Bethany/OC tomorrow. We will leave early in the morning and return late in the evening. Where would be our best bet for beach going and parking? TIA.