Have driven in plenty of times, it is really not that bad, and if you are used to driving in a major UK city and the alertness/mentality needed then it is fine.
If you are going in for a drive round to look at the sights it of the window then that should be doable, but hoping to get to all the big sights and park is going to be tedious and expensive.
However, if you have time not to, then I wouldn’t recommend driving in.
Instead of a Park and Ride, then I would just look at the RER map, park near a suburban station on one of the lines in to Chatelet/Les Halles, and just go for a wander around on foot from there.
As someone mentioned above, look in to applying for your windscreen sticker just in case you need it.