How to legally park In a cul de sac?

We live in a cul de sac and their is a lot of questions about how to park. We live in a town home (all homes are connected together) no lawn separating the homes. We have a 1 car wide drive way that fits 2 cars. If their are 2 cars in the drive way how should a 3rd person park? Just park directly behind the other 2 with the body of the car slightly out in the cul de sac? We live in Virginia beach, VA (hompton roads). If that makes any dicerence. There is almost no curb to park parallel to because all the houses are conected. We had a friend parked behind us and a neighbor hit his car while he was parked. They blame him partially for being "illegally parked" is he actually illegally parked. They could have gone directly back had plenty of room to turn and leave the cul de sac. Almost everyone in the cul de sac parks like we do.