Option 1:

When approaching from 12th street (East) you can park in the CMU University Center parking garage (highlighted green on the annotated map). You can go through the university center and out the west side doors (or you can take the elevator to the bottom floor of the parking garage and exit the garage at the south exit and head westward around the university center building) and follow the walking path (highlighted pink) to Escalante hall.

Option 2: When approaching from the west or the south, you can park in the green-highlighted lot labeled CP9. You just follow the pink-highlighted walking path northward between the fields and make a right at the path intersection. Escalante hall will be just ahead.

Here is the link to a PDF version of the parking map.