how to tow the car that is parked in my parking lot?

With a gas soaked rag inside gas cap

The laws vary by location. Call your local police department and ask what needs to be done. You say it is YOUR parking lot, but do you actually own that property, or is it your parking space in a complex? If it isn't owned by you, it will require the actual property owner to file the complaint with the police.

Hi don't call a recovery company to haul it off. they pick it up deposit on a low loader and take it to a compound.

No one here can see where you live and so have any idea about the laws or civil implications of this.