Your driving school teacher may have taught you to align and pivot your way into that few feet of vacant curb, but you can thank the good people at Road & Track for boiling the process down to an easy-to-reference diagram, and just a few simple directions.
Here's a breakdown of their 4-step system, as outlined in the image above:
1. Pull alongside the car ahead of the space you're aiming for. Align your rear axle with that car's bumper. Turn the wheel toward the curb at full lock.
2. Back up until the center of your inside rear tire aligns with the street-side edge of the forward car. Straighten the wheel, and continue to reverse.
3. When your outside tire aligns with that same edge, turn the wheel the other way.
4. If all went according to plan, you're in the space, bodywork intact. Get out and admire your work.
Check out the full post, including the actual mathematical equation that supports these steps.
Or, just do what these guys did.