  A complete sample of 27 radio galaxies was selected from the B2 and 3CR
catalogs, in order to study their properties on the milliarcsecond scale. In
the Appendix of this paper we present new radio images for 12 of them. Thanks
to the present data, all the sources in this sample have been imaged at mas
resolution. We discuss the general results. In particular we stress the
evidence for high velocity jets in low power radio galaxies, we compare high
and low power sources, and discuss the source properties in the light of the
unified scheme models. We derive that the properties of parsec scale jets are
similar in sources with different total radio power and kpc scale morphology.
  From the core - total radio power correlation, we estimate that relativistic
jets with Lorentz factor $\gamma$ in the range 3 - 10 are present in high and
low power radio sources. We discuss also the possible existence of a two
velocity structure in the jets (fast spine and lower velocity external shear
layer).
