A method is provided for gathering probe data and using the gathered data to creating parking lot road link geometry. Methods may include: receiving probe data from a plurality of probes in and around a parking lot; identify a plurality of seed points, where the plurality of seed points are iteratively created from the probe data; generating one or more parking lot road links based on identification of compatible seed points; determining if one or more parking lot road links is within a predefined distance of an end of each of the one or more parking lot road links; forming a T-junction between a first parking lot road link and a second parking lot road link; generating a parking lot map including the one or more parking lot road links; and providing for guidance of a vehicle through the parking lot based on the generated parking lot map.