Techniques for determining a parking trajectory for an autonomous vehicle. In some examples, a vehicle may navigate to a destination within an environment. The vehicle may receive parking locations proximate the destination, and determine a cost for navigating to each parking location, or multiple locations within a parking space. Each of multiple trajectories may include desired state(s) that represent the desired state information of the vehicle at a specific locations along the trajectory. The vehicle may determine a cost for the trajectory by comparing the predicted pose of the vehicle at the parking state to the target pose of the parking location. The vehicle may follow the trajectory based on the cost.