In this paper, the audio sound field generated by a focusing parametric array loudspeaker (PAL) is investigated both numerically and experimentally. A computationally efficient method is developed to calculate the quasilinear solution of both the Westervelt and Kuznetsov equations. The accuracy of generated sound field using Westervelt equation is initially examined, and the results are then compared with those obtained using the Kuznetsov equation. It is found that the focusing on the true focal location deteriorates the prediction accuracy using the Westervelt equation due to the strong and complicated local effects. To validate the numerical results against experimental data, a 37-channel focusing PAL prototype is constructed by using a field programmable gate array, metal-oxide semiconductor field-effect transistor drivers and the pulse train signal technique. Both the simulation and experimental results show that the audio sound pressure around the true focal location is increased, and the increment becomes larger at low audio frequencies and when the focal point moves close to the radiation surface, which is attributed to the strong local effects in the near field. It has been shown that a focusing PAL can improve the poor low frequency response for a conventional PAL without focusing, and the generated audio sound decays rapidly with the distance in the far field when compared to that without focusing.