Steal rifle away after parking (6)
I believe the answer is:
pilfer
'steal' is the definition.
(I know that pilfer is a more specific form of steal)
'rifle away after parking' is the wordplay.
'away' is an anagram indicator (letters move away from their original places).
'after' says to put letters next to each other.
'parking' becomes 'p' (abbreviation on road signs).
'rifle' anagrammed gives 'ilfer'.
'ilfer' put after 'p' is 'PILFER'.
(Other definitions for pilfer that I've seen before include "Steal (small things)" , "Lift -- nick" , "Steal (sl.)" , "Steal small items or quantities" , "twenty-two ball game" .)