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How do I set the Audi A8's parking assist?

I recently purchased an Audi A8 and I'm having trouble figuring out how to use the parking assist feature. Can you provide step-by-step instructions or any helpful tips?

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To activate the parking assist, press the PA button on the center console. You will then be prompted to select either parallel or perpendicular parking. Once selected, slowly drive near the parking spot and the car will take over the steering while you control the throttle and brakes.

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