Step 1: Pulling Into the Airport
When entering the airport, trust the signs! The signs for international departures will lead you toward the right place.
Finally, look at this map and figure out which road you will be coming from. You want to end up on the "Upper/Departure Level" marked with blue.
Step 2: Don't Wait
Keeping this in mind, do not attempt to pick up your friends at the loading/unloading zone. Instead, you need to park.
To do this, keep toward the left, but not in the far left lane. Most traffic you will encounter on the departures level is going to be on the right. Their goal is to unload bags, give hugs and leave (arrivals level is the opposite with people spending much more time hugging and talking).
The far left lanes will occasionally bring you into parking buildings, so stay one lane over. Your goal is to get to Parking-3 or Parking-4 (P3, P4).
Step 3: Parking
This step should be easy if you have parked in a structure before.
Tip for awesome people: don't be a jerk! Park inside the white lines on the ground, not on them and don't hit any other cars.
Step 4: Waiting and Leaving
While there are many available shops and restaurants, I recommend bringing an ipod, book or other entertainment device to due varying wait times.
After greeting "your party," and bringing them back to the car, simply drive toward the "exit" signs. Parking should only be a few dollars, but could be more if you waited for a few hours (unlikely but happens).
To find which direction YOU should take to get to your preferred freeway, ask the individual whom you are paying for parking. They will have the most accurate information regarding which direction you should take and are usually very willing to help.