I was shouted at for using disabled parking as someone disabled

My parent and I were going shopping, I use an assistance or as US people call it service dog, and I cannot safely get myself or him out of our car without a disabled car park spot, as the extra room allows the doors to fully be open, so we can both get out safely.

When we parked and were getting out, a woman began shouting at us saying “that parking is for disabled people, you should be ashamed of yourselfs ” Followed by filthy looks and tuts.

I feel really uncomfortable with public interactions of confrontation, so my parent spoke and said “ she is” and the woman rolled her eyes and walked away.

We displayed my blue badge in the windshield of the car and I got out with my assistance dog, and gave her a smile lol

Not all disabilities are visible, im just trying to go shopping.