According emilypost.com, you should tip your valet $2 to $5 dollars when you return to pick up your car. If your vehicle is especially expensive, you might want to tip a little extra, since the valet took care of your car while you were absent. Remember, your valet is the reason your car was protected from break-ins and scratches from other drivers. The better a valet is tipped, the better he will perform his job.

On the Other: Tip When You Arrive and Leave

A less popular, but perhaps more effective method is to tip your valet both when you hand your keys over and when they are returned to you. If the valet is given a little extra up front, he will be more inclined to drive carefully and keep a special eye on your car. Best Valet Parking, a company that compiles information and directories of valet parking services, advises tipping twice. It points out that the worker who parks your car may not be the same as the worker who brings it back to you. BVP suggests $2 on the way in and the way out, resulting in a $4 tip.

Bottom Line

As long as you tip at least $2, you are properly following social customs. Any extra will simply ensure better service or show generosity on your part. Not tipping at all, especially when the parking is free, demonstrates poor manners.

Source:

Emily Post: General Tipping Guidelines

Best Valet Parking: What is an Appropriate Tip for a Valet Parking Service?