Plesanton Fairgrounds campground. Take BART, you can safely park at BART station, to city. Take van tour then public transportation to places you wish to revisit or the tour did not take you to. Ferry to Sasulaito for a walk about and lunch and an ice cream. Cable cars to Chinatown, Lombard St, Fisherman's Warf, and Union Sq.
Do not stand in the "tourist line" to ride cable cars. Go up a block or so and jump on, that is the way it is done...it is a working public transit system and many, many locals ride it to work and for getting around.
Lots to see and do. FYI...you will be better received there if you call it San Francisco or the city. Frisco is not a term endeared by the locals.