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This question might be a no-brainer for many of you but unfortunately not for me.
Some people say that using the parking brake is not necessary for automatic gear cars. Yet, others say it is recommended to use the parking brakes even for automatic gear cars since it relieves the pressure on the transmission when the car is parked. So I decided to use it. The thing that I am not sure about is the sequence of steps when parking a car. I do the followings:

Parking:
1. While the car is on Drive gear, press the brakes.
2. Apply the parking brake.
3. Shift the gear to Park.

Taking off:
1. Press the brakes and shift the gear to Drive or Reverse.
2. Release the parking brake.
3. Take off.

Are those the correct steps or not? Thanks for your help.  

Sounds right to me!  

The method you've described sounds fine, but ultimately, it doesn't matter what sequence you use as long as you apply the parking brake before you release the brake pedal, the disengage the parking brake before you start to accelerate.  

So you could modify that sequence as follows:

1.  Put the transmission into park but keep your foot on the brake pedal
2.  Apply the parking brake
3.  Take your foot off the brake pedal.

Taking off:
1.  Put your foot on the brake pedal and release the parking brake
2.  Select drive or reverse.  
3.  Take off.

In an automatic transmission car, "Park" is perfectly adequate to keep your car stationary without damage IF you're sure that nobody will bump your car and if you're not on a hill.  If either of these criteria are not met, you should use the parking brake.  Here's why:

When you select park, you engage a mechanism that uses the transmission to hold the drive wheels still.  If your car is bumped hard enough, you won't necessarily ruin your transmission because they're all equipped with a feature that essentially releases the Park mechanism if enough force is applied to it.  But your car will roll unrestricted untill it either hits something, or slows down enough for the park mechanism to reengage.  

The toothed gear rings that engage park are loose fitting.  You'll notice that even on a very slight hill, or an uneven parking spot at the mall, your car rolls a few inches forward or backward before sorta bouncing to a stop.  Applying the parking brake will prevent this, which is helpful if you've parked very close to another car or object.  

On a steep hill, the park mechanism is put under great stress.  Shifting out of park while under stress can, over time, damage the transmission.  Using the parking brake BEFORE you release the brake pedal (and either after or before you select park), prevents the car from rolling forward or backward while in park, and thus, prevents undue wear when subsequently shifting out of park.  

Thanks for you help guys.