You might be lucky and get a mooring near the bridge though it tends to be first come, first served. There is a charge - I believe it is in the order of £10/day and used to give you free use of the leisure centre nearby.
I was advised that if you do moor there, try to move as far from the bridge as possible to avoid late night revellers disturbing your sleep. There are moorings on the K&A itself (just above the top lock and just below Bridge 196) where you can stop and are within walking distance of the town centre. There are also moorings further down the river on the other side of the town centre though they are against a concrete wall. Regards, Mike
