Parallel parking, in general, is a moderate difficulty maneuver. Moreover, for inexperienced drivers, it can be a stressful situation that can lead to mistakes such as being far from the sidewalk or damage another vehicle resulting in traffic tickets that range from simple parking violation to crash-related violations. In this paper we propose a computationally effective approach to perform a collision-free parallel parking. The method will calculate the minimum parking space needed and then the minimum possible path for the parallel parking. This method is computationally inexpensive in comparison with the state of art. Moreover, it could be used by any car because the parameters needed to perform all computations are taken from published datasheets. © 2012 IEEE.