Answer:
so
Use "so" when there is a result, or an effect due to an earlier cause, action or situation.
Other examples:
I was tired,
so I slept early. (tired - sleep early)
They came home early,
so they avoided the rain. (came home early - avoided rain)
Therefore,
We didn't want to get into trouble, so we parked in the lot
around the corner. (didn't want trouble - parked in the lot)
This sentence means the same if you write it this way:
We parked in the lot because we didn't want to get into trouble.