This is a very simple procedure, but very important. Going from a driving lane to a parking lane is a lane change, so the S.M.O.G. sequence (Signal, Mirror, Over the shoulder, & Go if it’s clear) applies here.
Also what is very important is keeping your eyes focused at eye level (or above). A lot of folks make the mistake of dropping their eyes. In fact, some people even teach that you should line up the hood ornament or some part of the car with the curb and then turn the wheels back to straighten up the car. Big Mistake! Why? Because to do that you have to look down.
Remember the void area exercise? You can’t see the ground around your vehicle. That’s why you need to look up and ahead for the space that you will occupy. You aim at eye level up the center of your intended path and imagine the track that the forward pivot point will track over to move near the curb and then be moving parallel as you are slowing to a stop.
Watch this video about targeting while pulling over to the curb.