AIM 5-4-19 outlines the Side-Step Maneuver. Practically speaking, you would shoot the approach to the straight-in nonprecision minimums (the MDA) regardless of the approach (PA, APV or NPA) and side-step whenever visual is made with the parallel runway. Very specifically, you do not use the circling minimums if the parallel runway is within 1200 ft. (This illustrates the point of the side-step manuever, to take advantage of straight-in minimums to the parallel runway rather than the higher circling mins.)