Parking rules can vary depending on your area. Here's where you can learn about them before you start riding.
In the Beam app, go to "Menu" > "Riding guide"
Visit Beam Safe Academy, which is also accessible from the Beam app via the "Menu".
One common rule across all area is that you will always be able to end your trip in a designated Beam parking spot, marked with a "P" on the map in the Beam app.