When I took the test to obtain my first driver's license (many moons ago), the only thing that caused me great anxiety was PARALLEL PARKING. Somehow, the idea that this particular maneuver is DIFFICULT has stubbornly remained embedded in my psyche. Thirty-five years later, I still don't like to do it unless there is no other choice.
Judy at The Fearless Driver has instructions here for "Stressless Parallel Parking."
Hey, if this woman can operate a fearless driving school in San Francisco, she must know what she is talking about!