Hello and welcome to planDisney, Carlena!
Magic Kingdom Park is so much fun! We know we will stay longer any time we visit because there is so much to do—a definite choice when visiting
Walt Disney World Resort. You are certainly free to leave the theme park and return later in the day. The good news is that you will not have to pay for
parking again, but the not-so-great news is that you will still encounter the same process to park and get back into the theme park. Since you plan to return later in the day after dropping your guests back at your hotel, it might be a good idea to allow your car to stay parked in the Magic Kingdom parking lot. You could utilize the services of a ride-share service (like Lyft) or if your off-property hotel has transportation options to and from the park, you can hop that mode of transportation, drop them off and get them settled and head back to the theme park. When you are done for the day, return to your vehicle parked in the Magic Kingdom Park parking lot and enjoy the rest of your day.
If you have any additional questions, feel free to return and let us know how we can help.
Have a magical time!
Raquel