Hi muduppig, here is a driving light wiring diagram and as Bowhunter suggested, instead of connecting the wire from the toggle switch to the headlight’s high beam wire, connect it to your parking lights wire.
Also, the toggle switch shown in the diagram is a three way switch ( ON - OFF - ON ) and if you want, you can connect one side to you parking light wire, the centre is connected to the coil of your relay(s) as shown and the other side can be connected to the battery positive.
In this set up, with the switch set to the first position, your rock lights will only work while your parking lights are on.
In the centre position, the rock lights will be off at all times
In the third position, the rock lights will be on at all times.
