It is common for parishes to rent out car parking spaces on a daily, weekly monthly or even annual basis as well as hourly parking for major events (e.g. football matches).
If you have people who wish to use your car park on a regular basis e.g. during the day whilst they go to work, it is recommended that you ask them to pay by standing order. When letting a space regularly you should have a formal, written agreement in place with the lessee. Additionally, a licence under faculty may be required and you should speak to your Archdeacon if you are unsure.
If you wish to control the renting out on an hourly/daily basis this will involve having someone in attendance to collect parking fees.
If you are looking to advertise your space you may be interested in Just Park which handles the entire booking and payment process, and does not require that anyone is on-site to collect fees.