Embodiments herein relate to a method and arrangement (1) for pick-up point (2) retrieval timing in a vehicle (3) having autonomous parking capabilities. The arrangement (1) comprises a communication interface (4) arranged to receive data concerning a desired retrieval time. A processor (5) is arranged to monitor one or more parameters (6) while the vehicle (3) is performing autonomous driving along the route (7) to the final slot (8) until autonomous parking of the vehicle (3) has been completed. The processor (5) is further arranged to calculate when to start autonomous return travel in order to be at the pick-up point (2) at the desired retrieval time based on at least one monitored parameter (6). An actuator (9) is arranged to initiate autonomous travel to the pick-up point (2) at the calculated return travel start time.