I don't think dogs are allowed. The cemetery is very small and there are places to sit right outside the actual burial area, including the adjacent Salem Witch Memorial.

There is really no need to book a tour to see the Old Burying Point Cemetery, and there is a very useful map/chart at one end (check the photo I attached to my review). And do not miss the small memorial area for the Salem "witches" right beside the cemetery. But there are several walking tours that would include this cemetery that might be interesting to take.

Free to stroll through (lots of the spooky tours in the area stop by here and talk about the graves if you wanted to pay for that experience).

The town of Salem public parking garage - high rise type - is a real deal - 25 cents per hour - and it is close by most of what you want to see in the area, including the cemetery. So, rather than trying to find free parking in town, which is almost impossible, just go to the public garage. Nice view from the top floor as well. It is on the corner of Derby and Congress, just before the bridge over the harbor..