We did that as well in the long term lot at YVR (Templeton Station). It was very convenient and just hopped onto Skytrain Canada Line which took us to Waterfront Station directly adjacent to Canada Place. The cars have lots of room for luggage as well. There are elevators to assist you with your luggage at this station so you are not dragging luggage up stairs etc. You can tap your Interac debit card for fare to make it easy.