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Some notes first.
You DO need to power the target board from your own supply.  The JTAG Gnd and Vdd pins are used to power the IC in the adapter, not to power your target board from the parallel port

Also, you should be able to use impact, as that's what I do, as long as you have a parallel-3 compatible cable.

You may want to double check the schematic of your JTAG header to ensure its functions line up correctly.

My pinout from the programming adapter is as follows:

1 +5v from target board
2 gnd
3 tclk
4 tdo
5 tdi
6 tms


Here are the steps I use:

1) compile the source to generate the JED file.

2) open the impact under the generate Programming file tab of the ISE - > Configure Device

3) select configure device using boundry scan (JTAG) - click finish

4) if the programmer is powered and the XC95xxx connected, you should get a simple schematic showing TDI, the XC95xxx, and TDO.

   if not, then it will report trouble.  not powering the target board will also land you here.

5) right click on the xc95xxx, and select program

6) it may ask you to verify the JED file, and ensure "erase device before programing" is selected

7) should take about 20-30 seconds total to erase, program, and verify.