Unskilled drivers of articulated vehicles are often overextended e.g. in backward driving, due to the fact that these kind of vehicles are hard to control and the kinematic behavior is complex. So if such drivers want to park their attached caravan on a holiday trip for example, an integrated semi automated driving assistance system can be very helpful in such situations. This raises questions ranging from the theory of kinematics to the human-machine interaction for the realization of such a backup assistance. We focus this paper on the fundamental questions of the minimum maneuver for parallel parking. So we discuss these questions from its theoretical background to the practical integration into a respective assistance system. Unskilled drivers of articulated vehicles are often overextended eg in backward driving, due to the fact that these kind of vehicles are hard to control and the kinematic behavior is complex. So if such drivers want to park their attached caravan on a holiday trip for example, an integrated semi automated driving assistance system can be very helpful in such situations. This raIZATION questions ranging from the theory of kinematics to the human-machine interaction for the realization of such a backup assistance. We focus this paper on the fundamental questions of the minimum maneuver for parallel parking. So we discuss these questions from its theoretical background to the practical integration into a respective assistance system.