Parallel parking comes down to timing your steering. Get the reference points right and the kerb stops being a worry.
Pull up roughly level with the car you will park behind, leaving about half a metre of gap. Check your mirrors and blind spots before you start to reverse, and keep checking as you go.
Reverse slowly, steer toward the kerb, and once the car is angled in, steer the other way to bring the front in neatly. Aim to finish a tyre’s width from the kerb, straight and within the space.