Hey, Lisa!
Welcome back and thanks for your question!
I think that parking at Magic Kingdom would be a great idea! If you get there early enough in the morning, you may have a pretty good parking spot not too far from the front! Which will be wonderful after a long and magical day in the parks.
All guests are welcome to use Disney's complimentary transportation system. You will need to take a bus from the
Ticket and Transportation Center, where you park and head over to Disney's Animal Kingdom.
Getting back to the Magic Kingdom, will require that you take a bus from Animal Kingdom to a resort. I would suggest to either go to Disney's Contemporary Resort, as you can walk from there to Magic Kingdom or take the Monorail. Another resort option would be Disney's Grand Floridian. Taking the Monorail from this resort is just one stop away from Magic Kingdom.
After your night at Magic Kingdom, just hop on the Monorail or a Ferry to get back to the Ticket and Transportation Center!
Tip: If you want to drive to Disney's Animal Kingdom that morning and then drive to the Ticket and Transportation Center, you will only have to pay for parking once! Just show your parking ticket from the morning and you are all set!
Enjoy your upcoming vacation! If you need more assistance, please visit with us again soon!
Korliss