London is a city that was founded by the Romans, who strangely enough had yet to invent cars. The layout of central London has barely changed since the Great Fire of London in 1666, and strangely enough they too had yet to invent cars.
I work in London, and I don't know anyone (yes, literally no one in my large workplace, including those who are very well paid) that drives to work, because
a) you'd never get there due to the congestion
b) the congestion charge is about £12 a day
c) there's no parking, either within the workplace or nearby
d) the tube / bus / bike is cheaper, faster and far less stressful!
There is literally no reason (unless you are physically severely disabled) to drive a car into central London on a regular basis. The government has been making great efforts to discourage people from driving in, and to make it more pleasant for people taking other options (cycling or public transport, e.g. the new segregated and very safe cycle superhighways). In my opinion they should be doing even more to reduce the number of people travelling into central London by car - especially increasing the congestion charge (price, area, times) and capping the number of minicab / taxi licences in circulation.
You, like everyone else who works or lives in London, will rapidly discover that getting the tube or bus, or cycling, is far more preferable. If you don't like public transport, then cycle - I do, frequently, and I find that it's just as quick as the train (door-to-door times), it's enjoyable, and I turn up at work feeling refreshed rather than still half asleep.