One way is to use xcape.
xcape [-d] [-t timeout] [-e map-expression]
This should do the trick:
xcape -e 'Shift_L=parenleft;Shift_R=parenright'
_xcape_ is included as a package for some distributions.
### _Notes:_
It has a default delay of 500ms after which the mapped key will not be emitted. It can be set by the `-t` option.
Each _map-expression_ run as a daemon and has it's own PID.