I can barely remember the route but it was roughly:
Turn right out the RTA/RMS (so you're on York Rd)
Turn left at the roundabout (Jamison Rd)
Turn right at the traffic light (Mulgoa Rd)
Turn right at the traffic light (Ransley St)
Turn left at the t-junction (Station St)
--now it becomes a bit of a blur, but I eventually drove passed Officeworks, so I guess I turned onto Derby St then turned onto Evan St
So now on Evan St, I went over the railway, then I turned right at the roundabout (Cox Ave)
--another blur because I eventually got onto The Northern Road/Parker St so I must have turned into one of the side streets since you can't turn right from Cox Ave to The Northern Road.
So now on The Northern Road, I kept going until I think Smith St intersection (which was then a right turn) because I remember there was a wide central traffic dividing thing which had trees.
At that point, I was in a residential area, which I then did a reverse parallel park in one of the small streets.
Then somehow got back to the RTA.
Literally drove the entire perimeter of Penrith.