A novel 5-Degrees of Freedom (DOF) fully parallel machine tool(PMT) had been introduced, and its configuration was analyzed. In order to obtain the solution for post-processing of this parallel machine tool, overcome difficulties in development and heavy workload of present methods, a new method of transforming NC code of traditional NC machine tool into parallel machine tool is presented. By analysing kinematic of 5-UPS/PRPU'parallel machine tool and cutter swing 5-DOF machine tool, the same quality of two Euler angles of 5-UPS/PRPU parallel machine tool and two swing angle of cutter swing 5-DOF machine tool is obtained. NC code of cutter swing 5-DOF machine tool has been generated using IMS-Post software. Through appropriate transformation, the NC code of parallel machine tool is obtained. Experiments is performed to verify the correctness of the method based on 3D free surface machining.