Cedar City and Springdale are about 1 1/2 hour drive apart.
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As you can see, everything that's green on this map is considered Zion. 99% of the hikes are near the South entrance in Springdale. However, Kolob canyon is located at the north end of the park. That was our first stop.
We paid our entrace fee at the ranger station there and they gave us a few complimentary maps. I also got talked into buying this book:
Kolob Canyon has an approximate 5 mile road that you can drive and see the canyon. It ends at a lookout point.