An autonomous parking system includes an object detection apparatus, and one or more processors. The one or more processors are configured to: perform an initial parking operation for parking a vehicle into a first parking space along a first path, the first path including one or more first turnaround points; during the initial parking operation, detect a second parking space using the object detection apparatus; generate a second path for parking the vehicle into the second parking space; and, in response to user input, perform at least one of a first parking operation along the first path or a second parking operation along the second path.