Have you ever parked in a handicap parking spot?

I used to not be so sensitive about this issue before I had my daughter, but my daughter is handicapped and everyday going to school three handicapped parking spots get taken by well-abled parents and kids who want a quick way to get to class.I wonder how many of you out there have ever parked in a handicapped zone before? And if so, do you think you were violating any laws?
Rent My Driveway