Complain at car park not admitting boat (4)

I believe the answer is:
carp
'complain' is the definition.
(carp can informally mean to complain or whinge)
'car park not admitting boat' is the wordplay.
I cannot really understand how this works, but
'park' could be 'p' (abbreviation as on an automatic car's gear lever) and 'p' is located in the answer.
The remaining letters 'car' is a valid word which might be clued in a way I don't understand.
This explanation may well be incorrect...
'at' acts as a link.
Can you help me to learn more?
(Other definitions for carp that I've seen before include "Find fault with a freshwater fish" , "Pond fish" , "Fish often kept in ponds" , "Fish - complaint" , "Cavil - fish" .)
