  Aims: This is the first paper in a series dedicated to investigating the
kinematic properties of nearby associations of young stellar objects. Here we
study the Taurus-Auriga association, with the primary objective of deriving
kinematic parallaxes for individual members of this low-mass star-forming
region. Methods: We took advantage of a recently published catalog of proper
motions for pre-main sequence stars, which we supplemented with radial
velocities from various sources found in the CDS databases. We searched for
stars of the Taurus-Auriga region that share the same space velocity, using a
modified convergent point method that we tested with extensive Monte Carlo
simulations. Results: Among the sample of 217 Taurus-Auriga stars with known
proper motions, we identify 94 pre-main sequence stars that are probable
members of the same moving group and several additional candidates whose
pre-main sequence evolutionary status needs to be confirmed. We derive
individual parallaxes for the 67 moving group members with known radial
velocities and give tentative parallaxes for other members based on the average
spatial velocity of the group. The Hertzsprung-Russell diagram for the moving
group members and a discussion of their masses and ages are presented in a
companion paper.
