We theoretically study the nature of parametrically driven dissipative Kerr soliton (PD-DKS) in a doubly resonant degenerate micro-optical parametric oscillator (DR-D{mu}OPO) with the cooperation of c{hi}(2) and c{hi}(3) nonlinearities. Lifting the assumption of close-to-zero group velocity mismatch (GVM) that requires extensive dispersion engineering, we show that there is a threshold GVM above which single PD-DKS in DR-D{mu}OPO can be generated deterministically. We find that the exact PD-DKS generation dynamics can be divided into two distinctive regimes depending on the phase matching condition. In both regimes, the perturbative effective third-order nonlinearity resulting from the cascaded quadratic process is responsible for the soliton annihilation and the deterministic single PD-DKS generation. We also develop the experimental design guidelines for accessing such deterministic single PD-DKS state. The working principle can be applied to different material platforms as a competitive ultrashort pulse and broadband frequency comb source architecture at the mid-infrared spectral range.