In order to develop and verify the steering system, especially during parking manoeuvres with numerical methods, a tyre model that generates accurate lateral force and self-aligning moment is definitely essential. This paper first reviews the tyre parking measurements from the recently developed tyre test rig at Camber Ridge. After that, a new method is introduced to describe the tyre force and moment for parking as an extension of the combined slip Magic Formula. The turn slip effect is implicitly incorporated by shifting the acting point with an effective width and length of the contact patch. The validations between the measurements and simulations suggest that proposed method is promising for improving the correlation of measured tyre force and moment generation for parking manoeuvres over the standard Magic Formula tyre model.