One of those domain names should be the primary for the website (hosting account). The other one should be and add-on and has to redirect to your main web address.
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I would not just have a parked domain, it is not going to help you in anyway. There is nothing wrong with having multiple names as long as you are using the redirects to send them to the other site. If you wanted to do seo for both sites, you could always use the other name as a landing page with its own content and then send all the links to the main site.
Parked domain won't actually harm your site even if its similar to your MAIN domain. I suggest you put some blog there and buy some unique articles about your business. That would be useful for this particular domain.