Hi there, Amanda!
If you are at the Transportation and Ticket Center (TTC) - the central parking hub for both Magic Kingdom and Epcot - you will able to access both Parks with ease.
From TTC, the monorail ride should take you 10-15 minutes at non-peak times; the ferry roughly the same. Add in another 10 minutes of bag check, ticket scan, and walking to arrive at Cinderella Caste; you might want to build in a little time to stop and enjoy the sights along the way.
The ride to Epcot - home of
Akershus Royal Banquet Hall - is somewhat longer, and your only option from TTC is the monorail. The ride itself will take you approximately 30 minutes at non-peak hours, and another 30 minutes to enter the Park and head back to the Norway pavilion in World Showcase.
If you park at Epcot, you can expect to shave about 20 minutes off your trip. Anticipate about 10 minutes from the parking lot - tram or walking - to the entrance.
There is no day-long Guest parking at Magic Kingdom.
Note that these times are variable, of course; crowd levels, monorail timing, and speed of walking can all affect your schedule. But they ought to serve as a reasonable guide as you sketch out your plans. If I can be of further assistance, feel free to drop me a line.
Have a wonderful trip!
See you later, celebrator,
-Deborah B.