When I was learning to drive, my driving instructor taught me a method that worked perfectly every time, if you got it right. I can't remember what that method was exactly, but this how it went to the best of my recollection:
1. Pull up parallel beside the parked car in front of the vacant parking bay. Make sure you are not more than 1m away from that car.
2. Reverse straight until you can see the driver's side back corner of the car beside you from your passenger side rear quarter window.
3. Stop. Turn the wheel to full lock left and continue reversing until you can see the kerb in your passenger side mirror.
4. Straighten the wheel and continue reversing straight until the front passenger side corner of your car is in line with the back of the parked car.
5. Stop and turn the wheel to full lock right and continue reversing until your car is parallel to the kerb.
6. Straighten the wheel and move forward if necessary to position your car correctly in the parking bay.
This was for a sedan, so it might vary somewhat for different types of cars.
Hope this helps!
Disclaimer: No responsibility is taken if this causes you to hit anything or cause any damage as a result of trying this technique.
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