Yes you can travel from EPCOT to Contemporary Resort by Monorail. Take the EPCOT Monorail to Ticket & Transporation Center. There you will change to the resort monorail. You will have to do the entire circuit - Poly., Grand Flor, Magic Kingdom, to get to Contemporary Resort. Very time consuming. Plan 45 minutes of travel time from EPCOT to CR. Since you have priority seating for the breakfast, the gate guard to CR will allow you to park for free in his lot. You could then let the rest of the family ride the monorail back to EPCOT while you move the car. If you do drive over, when you approach the gates to Magic Kingdom car entrance you will need to go to the far right gate and tell the attendant that you have reservation for meal at CR. You will not have to pay to enter the area. From there, follow the signs to CR. Be careful when you leave the CR for EPCOT. You have to go around 'Robin Hood's Barn' to get there because of one-way roads. It is not very direct - but just keep following the signs and you will finally arrive.