We report on the discovery of an infrared jet from a deeply embedded infrared counterpart of 6.7-GHz methanol maser emission ( MME ) in W42 ( i.e . W42-MME ) . We also investigate that W42-MME drives a parsec-scale H _ { 2 } outflow , with detection of bow shock feature at \sim 0.52 pc to the north . The inner \sim 0.4 pc part of the H _ { 2 } outflow has a position angle of \sim 18 \arcdeg and the position angle of \sim 40 \arcdeg is found farther away on either side of outflow from W42-MME . W42-MME is detected at wavelengths longer than 2.2 \mu m and is a massive young stellar object , with the estimated stellar mass of 19 \pm 4 M _ { \odot } . We map the inner circumstellar environment of W42-MME using VLT/NACO adaptive optics K _ { s } and L ^ { \prime } observations at resolutions \sim 0 \farcs 2 and \sim 0 \farcs 1 , respectively . We discover a collimated jet in the inner 4500 AU using the L ^ { \prime } band , which contains prominent Br \alpha line emission . The jet is located inside an envelope/cavity ( extent \sim 10640 AU ) that is tapered at both ends and is oriented along the north-south direction . Such observed morphology of outflow cavity around massive star is scarcely known and is very crucial for understanding the jet-outflow formation process in massive star formation . Along the flow axis , which is parallel to the previously known magnetic field , two blobs are found in both the NACO images at distances of \sim 11800 AU , located symmetrically from W42-MME . The observed W42-MME jet-outflow configuration can be used to constrain the jet launching and jet collimation models in massive star formation .