The parking detection system method described herein could guide people around urban environments detect guide and navigate them to empty parking spaces, add-on to the car-based navigation systems and or to the cellular phone. We have focused on the task of detecting and navigating even in situations in which Global Positioning Systems (GPS) cannot provide this information, such as when the person is indoors or in crowded urban areas where there is no line of site to the GPS satellites and without the need for central computer system or internet connections. The parking information will be received directly from RF sensors and will display as a floating overlay on the existing navigation system and or cellular phone as Bluetooth application.