Jetty Park in Cocoa Beach. It is right at the entrance to the Port of Canaveral and across the channel from the submarine base. Follow the signs to toward the cruise ship ports and then wind your way down to Jetty Park. There is a long fishing pier you cna walk out on for a good view. You won't be the only one there so get there early.
If you have a hand held scanner take it with you and you can listed to launch control and the countdown, etc. I can find the radio frequency if you need it.