Automated valet parking systems have been researched because they provide a good service condition for autonomous vehicles, with their limited space and unmanned environment. Previous parking algorithms focused on planning a path to a parking space based on geometry. However, this approach only works when the parking space is simple. To make automated parking algorithms useful in different environments, it is crucial to drive a path from the entrance to the target space and plan a safe parking path, taking into account the surrounding vehicles in the parking lot. This study organizes the structure of the automated valet parking system into two phases. The first phase involves driving from the origin to the destination. The second phase focuses on planning a path for parking the vehicle in the parking lot. It considers the position, orientation, and parking space to plan a path that aligns correctly. Simulation results demonstrate that the proposed algorithm can plan paths in various parking environments and park vehicles in narrow parking spaces. It is expected that this proposed automated valet parking algorithm can be further improved to contribute to the early commercialization of automated driving technology.