An autonomous parking system is the essential innovation for stress free car parking in smart cities. The efficient use of resources is a key goal of smart cities, and their integration with technology has improved productivity and dependability for urban infrastructure. In this paper, an efficient automated parking system integrating Internet of Things (IoT) and radio frequency identification (RFID) technologies is proposed. The proposed system is integrated with IoT in which the consumers can book the parking spots before arriving to the destination-drastically reducing the time taken by the consumers in searching for the parking slot. The proposed system effectively saves time for the consumers and also significantly provides solutions for all the parking-related issues faced by the management of flats, theaters, malls, hospitals, etc. In management perspective, this system will provide better use of their resources and reduce the amount of labor needed to maintain these parking lots. The automated parking system overcomes the important issue of jamming near the gates of parking spots by improving the check-in and check-out process of vehicles. The RFID tags given to the drivers reduce the time for vehicle identification as it is done automatically. The proposed system avoids long queues at the gates, unnecessary traffic jams near the gates, reduces the waiting time, and ensures security by allowing only the registered users identified through RFID tags. Thus, the proposed system will be a sophisticated system for the consumers, drivers, and a boon to mall owners and management.