A parking system for a vehicle that is configured to perform a parallel parking maneuver and that includes: an object detection apparatus; at least one processor; and a computer-readable medium having stored thereon instructions that, when executed by the at least one processor, cause the at least one processor to perform operations that include: determining, through the object detection apparatus, information regarding at least one nearby parked vehicle; setting at least one edge point of the at least one nearby parked vehicle based on the information regarding the at least one parked vehicle; setting a reference line based on the set at least one edge point of the at least one parked vehicle; and providing a control signal to control the vehicle to perform a parallel parking maneuver with a body of the vehicle passing through the set reference line.