A method and an apparatus for parking a vehicle and a medium are provided. The method comprises: acquiring parking environment data of a parking environment related to a vehicle and historical parking data in the parking environment; selecting, according to the parking environment data and the historical parking data, a constraint set for parking the vehicle from a plurality of constraint sets, the plurality of constraint sets corresponding to a corresponding parking risk level; and controlling the vehicle to park according to the selected constraint set. According to the solution of the present disclosure, the usage mode of the parking can be adaptively controlled for a risk level of the parking environment, thereby expanding the application scenarios of the parking technology.