Hi Raj,
It is not suggested to take print at document parking status. the document is parked because the person knows that changes will be made in the document. It will be of not much use to take print of this incomplete document. I didnt understand when you said you are reversing the document and creating a new document. you can make changes in the existing parked document and save the document once all the changes are completed. there is no need to create new documents. Please refer the below link for the concept of document parking in SAP