Parametric loudspeaker can form an acoustic beam with sharper directivity by using multiple small ultrasonic transducers. In recent years, acoustic beam steering methods based on delay-processing for multiple small ultrasonic transducers is proposed. However, in these methods, spatial aliasing in ultrasonic waves has not been focused. Therefore, in this paper, we investigate the relationship between the spatial aliasing of ultrasonic waves and the acoustic beam of audible sounds. In addition, we propose acoustic beam steering with parametric loudspeaker by individual delay-filtering for carrier and sideband waves.