If you really have to use a car
Carpooling is definitely an option and there are a lot of web services that allow you to find others who are driving on the same route as you, and would like some company and not least to save some money.
But if that is not a convenient solution you can consider getting an EV car instead of the old gasoline or diesel car. This, however, requires you to have access to a charging station, either at home, or at work. Most EVs can drive between 3-400 km on a charge, so most people should be able to get to work and back without having to charge on the way.
Charging stations are being rolled out all throughout Europe, and in the cities you can find parking spots for EVs and in some countries like Norway you can even park for free there (but you’ll still have to pay for electricity).
So in some countries the future of EV transportation is moving nearer, whereas in other countries it still seems to be over the horizon.
Another option is to leave your car at the edge of the city at a carpool parking lot, and then switch to public transport from there. In many European cities it is the cheapest and easiest way to get into the city and park your car.
In the city centre there are many ways of getting around by using public transport or just by walking.