The invention provides a full-automatic parking system. The full-automatic parking system comprises a processing module, a parking button, an automobile taking button, a steering subsystem, a braking subsystem, an engine subsystem and an automobile combined detection sensor. When a processing chip detects that the parking button or the automobile taking button is pressed, an automobile is controlled to enter a garage or exit from the garage according to a garage entering path or a path of coming out of the garage. Automobile parking place automatic detection, automatic steering, automatic driving and automatic braking parking are integrated, the function of automatically entering the garage or coming out of the garage for the automobile can be achieved as long as a driver presses an automobile key nearby the automobile or the parking button or the automobile taking button on a mobile phone APP, manual control is not needed for the driver, and therefore operation is convenient. In addition, according to a parking method of the full-automatic parking system, for different target parking places, corresponding paths of entering the garage or coming out of the garage can be selected so that the automobile can enter or come out of the garage, using is convenient, the paths of entering or coming out of the garage are planned based on coordinates, automobile parking is set right, and accuracy is better.