Dunno how Parallels is installed - if it came as a package file with an installer then there should be an uninstall option if you re-run the installer again.
Check /Library/Receipts and see if there's anything Parallels related in there.
If it was drag and drop from a disk image, you'll probably have to find the bits and fish them out by hand - if you care, and generally I don't.
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simon
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