In high density parking system two blocks of parking structure are present on both sides of the central robotic unit. The central robotic unit takes the car from entry bay and parks in the nearest outer free slots. After filling the outer slots, cars are parked in the inner slots. To retrieve a car from outer slot, the car in front (if present) is shifted to another free location. The high density parking system is designed as a optimum solution between land utilization and parking time. It can be used for large scale parking purpose. This system have less than 3 minutes retrieval time.