Thefts from cars is prevalent in Lesotho so you should try to park somewhere visible and at night, well lit. If possible, use attended parking lots.
You’ll find plenty of free parking but Lesotho is a country where it’s sensible to pay the small parking fees and know that your car and you will be safe. There are attended garages and lots in the main cities, elsewhere just use common sense and park as close as you can to your destination.
Enforcement of parking is rarely done and so you are unlikely to get a ticket for parking except if you seriously overstay your time in a parking garage.
There is little in the way of concessions for disabled drivers but most people are friendly and helpful and will try to find you a more convenient place to park.