"He is glad because he is not afraid."
Translation:Lui îi pare bine pentru că nu îi e frică.
There is not a correlation between pare (it seems) and este (it is). The verb "a părea" is used here as a part of an expression. In Romanian there are these two expressions, a părea bine and a părea rău that are the equivalents of to feel joy and to feel sadness.
When you say îi pare frică it means only you are very, very creative. The expression does not exist. Frica is a full sensation, noun. The verb for this noun is "a fi frică" (to be afraid), so, it is right to say "Mie mi se pare că ție îți este frică" (I feel/It seems you are afraid - two sentences are here). Îmi pare frică does not exist. But you can say "Îmi pare că îmi este frică" (I feel like I'm afraid) if you are not so sure you are afraid.