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The law on this is pretty simple. The use of a handicap stall is designed to ensure that the occupant of a vehicle (either the driver or the passenger) with a valid handicap placard or license plate has ready access to the building. The facility is violating ADA regulations by prohibiting you from using handicap accessible spaces.
You can report ADA violations to the US Dept. of Justice here: http://www.ada.gov/filing_complaint.htm