Campus maps are inside the catalogs. Teer Engineering is on Science Drive, and Perkins is close by, next to the Chapel. D.H. Hill is a huge building right on Hillsborough Street. We have many alumni in the Department who are from these two schools, so track one of them down and ask for directions. Unfortunately, parking at Duke and State is limited, much in the way parking here at UNC is.
Lots can fill up in the evening as well, because of evening classes and students coming in to study.
At Duke, if you drive on Science Drive toward Teer, the parking lot on the right immediately after you pass Teer is very convenient for visiting Teer and Perkins. If that is full, there's also space behind Teer. At State, I drive down Hillsborough, take a left on Brooks Avenue and park in the lot on the immediate right. If that is not available, you can cruise the neighborhood streets within a few blocks north of campus. Read signs to see when parking is allowed.