We got our Army/Navy tickets last year through our Michigan Parents Club, and yes they were in the upper level, but I really enjoyed sitting with all the Army folks, and it gave a great vantage for everything; including the March-On. I think the parents clubs get the cadet tickets, because they ask if your cadets allotment can be used. We only needed two tickets, and that's what we got this year too. We had a fantastic time in Baltimore last year.
As for the home games, we ended up going to three of those too (driving from mid-Michigan, so not a quick trip). Very good time to visit your cadet, and we had a great time at the games. Last year the only game that we attended which was real full was the Army/Air force game. We just ordered our tickets from the Army WP athletic site, and picked our seats. I wasn't aware of any special rates or anything like that for parents of cadets. There are always lots of tailgates by various parents clubs. No shortage of fun at WP on a game day.
Dont forget; there is always a cadet review on the game day. Two of the regiments do the review on the Plain a couple hours before the game, and one marches into the stadium right before the game. The fourth then has duty at the stadium and around WP. Find out where your cadet is tasked that day. The review is very cool; Particularly if your kid is out there.