Currently, the parking system is classified into parking assistance system and automatic parking system. The automatic parking system is the modified or improved technology of parking assistance system. The parking assistance system has developed in some automobile manufacturers. The vehicle parking system is lack of an efficient parking algorithm to improve the parking performance. Moreover, the efficient parking algorithm can reduce the required parking space. Therefore, this article proposes an efficient parking algorithm and implements into a microcontroller based automatic parking system. The parking algorithm is implemented by the proposed Two-Turn concept. The experimental results show that our proposed method can reduce the vehicle parking space which requires about 1.43 times the length of vehicle.