You can squat past parallel but the reason a lot of people don't recommend it, is that if you have bad form you expose yourself to injury. Probably the most important thing is a rigid and nice planar spine when squatting. Keep your weight over the middle of your feet and knees should not go past your feet (i.e. try to keep your shins as perpendicular to the ground as you can). Also, don't forget your core and upper body. You need to keep everything engaged during the squat.
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