This paper is about automatic parking of vehicle. The configuration of the system consists of ultrasonic sensor, IR sensor, Arduino, RF Transmitter and RF Receiver. The path planning algorithm is developed based on the data acquired from the sensor. The ultrasonic sensor and IR sensors are used to detect parking area and obstacles respectively. Arduino Uno is used to generate the algorithm and control the movement of the robot. Experimental results are presented to demonstrate and validate effectiveness of the technique used.