If your WP installation is at http://www.domain.com/wp/ then if you install the forum at http://www.domain.com/forum/ they are parallel. The bbPress installation would not be in a subfolder of WordPress.
Does WordPress come up at http://www.domain.com or http://www.domain.com/wp/ ?
There is probably a way to do it with mod_rewrite on apache, but I’m not sure I understand the question.
WP answers to requests to domain.com
I followed the WP instructions on serving WP from a different directory than it’s installed in (WP Admin -> Options).
I put bbPress inside wp/ like the general consensus here recommends, and the syncing works very well. Cookies work fine etc. I’m very pleased with this. I didn’t want to have problems with syncing, so I didn’t do the parallel method.
WordPress:
http://appleswitcher.com
bbPress:
http://appleswitcher.com/wp/forum
bbPress, ideally:
http://appleswitcher.com/forum