Best way to get to / park at Grand Place in Brussels

Hello and good morning, We're currently on holiday in the Netherlands about 2 hours from Brussels and wanted to do a day-trip to Brussels. We mainly just wanted to walk around the Grand Place, see some of the architecture, maybe visit the Museum of Natural Science.

I'm having a hard time finding info on how we best get there, and was hoping for input. We will be arriving by car from the east/north-east. I looked up a parking garage right at Grand Place(Interpark) which seems good, but is it difficult getting there traffic wise?

Are we better off parking a little ways out of the center and taking the metro? And is it easy enough to figure out metro payments and stuff? Or do we just drive straight to Grand Place and park no problem? Should we drive to Maastricht instead??

We're traveling with 3 young kids (10, 8, 5), but public transit usually isn't a problem for us. Other suggestions are welcome if anybody wanna give us a must-see tip.

Thanks in advance!