how do i change the parker bulbs on a 94 tarago?

Parker bulbs? Do you mean the lights that come on at the first detent on the headlight switch?
My reference material only lists vehicles available in America, but you will either need to remove the colored plastic light cover (Phillips or Torx screws) or access the rear of the light and twist the bulb housing/pigtail counterclockwise 45 to 90 degrees then pull it straight out. The bulb either pulls straight out, if flat, or, if round, push in and turn 15 degrees counterclockwise and pull.