I'm not sure what you're asking for. That's the command. Unless you meant an explanation?
The basic command is convert filename.cr2 filename.jpg.
That parallel command runs the convert command on all of the .cr2 files in the current directory, running a bunch of them simultaneously. {} is replaced with the name of a file, and {.} is replaced with the filename without the extension.
Since you mentioned darktable I assume you already know this, but depending on the camera's raws and the presets that imagemagick has for converting these photos the results might be undesirable if not inspected or tweaked. Not disparaging any advice given here, just mentioning that generally raws are edited on a case by case basis to fix camera artifacts and color issues. Hope the solutions others have posted work out for you!