Having used a variety of shields in combat, how they are fastened or held can vary quite a bit. For the typical "heater", or triangular shield, the arm is usually not parallel, but more diagonal, with the hand pointed to the top right(backside) of the shield, and as Lord Xia notes, at rest the shield would be sideways, or even top down, point up. Still, most fighters will go with what works best for them, some will have the arm perpendicular, secured down the center of the shield. Bucklers and targes are typically strapped to the forearm, or simply grasped, usually by a raised dowel or a strap. Kite and tower shields are carried much the same as a heater, for those with the strength to bear them.
A properly fitted heater will see the point just above the wielder's knee, with the top parallel to his shoulders, when in a fighting stance.
Kite shield:
Buckler:
Source: http://www.yeoldegaffers.com/project_shield.asp