  We report on our observations of the parsec-scale radio jet structures of
five blazars that have been detected by ground-based TeV gamma-ray telescopes.
These five blazars all belong to the class of high-frequency peaked BL Lac
objects (HBLs), which are the most common blazar type detected at the TeV
energy range. Because of their relative faintness in the radio, these HBLs are
not well represented in other radio blazar surveys. Our observations consist of
five epochs of Very Long Baseline Array (VLBA) imaging from 2006 to 2009, of
each of the five blazars 1ES 1101-232, Markarian 180, 1ES 1218+304, PG
1553+113, and H 2356-309, at frequencies from 5 to 22 GHz. Fundamental jet
properties, including the apparent jet speeds, that can be measured from these
multi-epoch series of VLBA images are presented and compared with other
gamma-ray blazars. Confirming prior work, we find that the TeV HBLs have
significantly slower apparent jet speeds than radio-selected blazars. Together
with other radio properties of the HBL class, this suggests modest Lorentz
factors in their parsec-scale radio jets. This in turn suggests some form of
Lorentz factor gradient in these jets, since they are likely to have high
Lorentz factors in their TeV-emitting regions. The study presented here
approximately doubles the number of TeV HBLs with multi-epoch parsec-scale
kinematic measurements.
