Always park somewhere that’s very public, don’t leave valuables in the car and try to part as close to your destination as possible for crime is rife.
In the cities you’ll find plenty of paid and free parking. It’s best to take the paid parking in attended lots for security reasons. Parking costs are low and safe parking could save you a lot in terms of money, personal safety and inconvenience.
Enforcement of parking is done by the police but they will usually only intervene if you are causing an obstruction or have vastly outstayed your parking time on a road.
There are no concessions for disabled drivers in Venezuela but if you make your needs known to an attendant, they will usually do all they can to help.