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In a small saucepan, combine vinegar, sugar, oil, garlic, 1 teaspoon salt, and 1/2 teaspoon pepper. Cook over medium heat until sugar dissolves, about 3 minutes. Remove from heat and pour into a bowl with a cover that is large enough to hold the salad.
Stir in green beans, wax beans, kidney beans, red onion, and parsley and toss until evenly coated. Cover and refrigerate at least 4 hours or overnight to blend flavors.
Remove from refrigerator at least 30 minutes before serving and bring to room temperature.