What type can parasites can I get from eating undercooked beef?

Bacteria. You are not likely to get any parasites from eating us grown beef. You may acquire bacterial infections, e.g., toxigenic e. Coli, salmonella etc.
Couple issues. Rather unusual in the usa to get a beef tapeworm, taenia saginata, but more common in numerous grocery stores is a rather malignant form of e. Coli. The latter is the greater risk, according to state health departments.