Oxford University has some excellent advice about preparing for your arrival and what to expect in the first few weeks - take a few minutes to read it here. You can also find some useful maps of the city and colleges to help you plan your journey.
Car parking in Oxford is notoriously difficult and there is no parking on the Lincoln College site. However, you can get a permit from the Porters' Lodge to allow you to park in Turl Street for thirty minutes in order to unload. You must move your car when this time is up or you will get a parking ticket. Information about car parks in Oxford can be found here.
You will be able to collect the keys to your room and your access swipe card from the Porters Lodge from 9 am. Second and third year students will be on hand to help with your things and offer directions, and your college parents will be keen to make your acquaintance.
Once you've made a start on unpacking you need to come to the Oakeshott Room (open 1.00pm to 5.00pm) to sign your accommodation contract (here's a sample) and complete your registration. You cannot be registered unless you have signed your accommodation contract. Registration is absolutely vital: if you do not register you will not be able to attend your course or receive your Student Loan. You will be emailed your login details for Student Self Service once your signed University Card Form has been received and processed, and you will then be able to complete the first stage of registration online. You must do this before you come to Oxford. You'll also receive your University card, which is vital for doing just about anything in Oxford, and your all-important Freshers' pack.
In the evening, the freshers will meet the JCR committee, followed by a formal dinner in Hall with the Rector and Fellows (suit and tie, cocktail dress, or equivalent).