Went for lunch and drove my friend who was in an a...

Went for lunch and drove my friend who was in an accident and is in a wheelchair. I drove into the parking lot to help him unload and setup his wheelchair, but the valet told me there is no handicapped parking in their lot - and that I'd have to go across the street. Across a busy street for someone in a wheelchair is not quite ideal!
He then said I could stay at the restaurant since he saw my friend was in a bad situation, so I didn't have move the car after I parked. After we ate and we were leaving, he approached and insisted on charging me $9 for parking (something that he didn't tell me beforehand).
Handicapped parking is required to be free. Food was fine but I don't like the feeling that a restaurant is taking advantage of customers misfortune. Therefore I likely won't be back.