CYC(34): (charniak-parse "The cat sat on the mat.")
((:S1 (:S (:NP (:DT "The") (:NN "cat")) (:VP (:VBD "sat") (:PP # #)) (:\. "."))))
156
CYC(35):

2. OO oriented

You can create a parser object and call its 'parse method,
which returns a parse-tree object that has many methods which
I won't describe here:

CYC(38): (csetq parser (new-charniak-parser))
#<CHARNIAK-PARSER (Error handling: :THROW) @ #x942761fa>
CYC(39): (fim parser 'parse "The cat sat on the mat.")
#<P(S):
   #<P(NP):
      #<W(DT): The>
      #<W(NN): cat>
   >
   #<P(VP):
      #<W(VBD): sat>
      #<P(PP):
         #<W(IN): on>
         #<P(NP):
            #<W(DT): the>
            #<W(NN): mat>
         >
      >
   >
   #<W(.): .>
>
CYC(40):

3. Semantics

To obtain actual CycL, use the cyclify function:
CYC(43): (princ (cyclify "Daniel kissed Henrietta."))
((#$thereExists ?KISSED1245
  (#$thereExists ?DANIEL1248
   (#$thereExists ?HENRIETTA1249
    (#$and (#$isa ?HENRIETTA1249 #$FemaleHuman) (#$givenNames ?HENRIETTA1249 Henrietta)
     (#$isa ?DANIEL1248 #$MaleHuman) (#$givenNames ?DANIEL1248 Daniel)
     (#$isa ?KISSED1245 #$Kissing) (#$performedBy ?KISSED1245 ?DANIEL1248)
     (#$objectActedOn ?KISSED1245 ?HENRIETTA1249))))))
((#$thereExists ?KISSED1245
  (#$thereExists ?DANIEL1248 (#$thereExists ?HENRIETTA1249 (#$and # # # # # # #)))))
CYC(44):

wff-checking is on by default, but can be turned off (which doesn't make any difference
here):

CYC(44): (princ (cyclify "Daniel kissed Henrietta." '(:wff-check? nil)))
((#$thereExists ?KISSED1251
  (#$thereExists ?DANIEL1254
   (#$thereExists ?HENRIETTA1255
    (#$and (#$isa ?HENRIETTA1255 #$FemaleHuman) (#$givenNames ?HENRIETTA1255 Henrietta)
     (#$isa ?DANIEL1254 #$MaleHuman) (#$givenNames ?DANIEL1254 Daniel)
     (#$isa ?KISSED1251 #$Kissing) (#$performedBy ?KISSED1251 ?DANIEL1254)
     (#$objectActedOn ?KISSED1251 ?HENRIETTA1255))))))
((#$thereExists ?KISSED1251
  (#$thereExists ?DANIEL1254 (#$thereExists ?HENRIETTA1255 (#$and # # # # # # #)))))