In a PRIVATE parking lot ? On PRIVATE property ? I don't think so.
Now once they crossed into PUBLIC property, the street, then it was an illegal act.
I believe the parking lot in question is public property - a large public high school parking lot.
PA requires both an eye exam and a written test prior to getting a driver's permit as well as proof of age (16). If she was 15 she could not legally get a permit. The father, no matter how well-meaning, has the responsibility to obey the law and to teach his daughter to obey the law. Breaking the law has consequences.
Yes, it was a tragic accident, but one that could have been avoided had the parent acted in a responsible, law abiding manner.