From time to time I take my elderly (88 and 90) mom and dad for dinner. Looking for Italian, California, Seafood. They have a Chinese place and a spendy restaurant already. Recent NY transplants, they enjoy really good food, but are not extremely adventurous. An every day kind of place would be great.
Il Fornaio in Burlingame?
It's only a few minutes from Millbrae, there's a city parking lot across the street.
If you want a more cafe like atmosphere, I also really like Cafe Grillades in San Bruno. It's hidden in the shopping center by Mollie Stone's. They have crepes and a range of other dishes.
Also, in SSF the Basque Cultural Center
It's a very family friendly, comfortable atmosphere, not particularly California, but they do some lovely traditional dishes and always have a fresh fish of the day. Once again, easy parking and accessibility.