On Saturday, Tesla Motors, Inc. released a software update for the Tesla Model S and Model X that enables the cars to park themselves in a garage or perpendicular parking space.

The new feature, dubbed “Summon,” is an extension of Tesla’s Autopilot feature and will unlock the car, start it, automatically open the garage door, pull the car into or reverse it out of the garage, automatically close the garage door again, and turn itself off – all while the driver is out of the car.

Below we take a look at how to enable and use Summon mode on the Tesla Model S or Model X and look at some of the limitations of the new Autopark feature.

How to enable and set up Summon mode on Tesla Model S, Model X

As Summon is only in beta – or test mode – right now, the feature is not enabled by default. To manually enable Summon, Tesla owners who have updated to the version 7.1 software release can go to Controls > Settings > Driver Assistance > Autopilot and toggle the feature on.

Drivers also have a few customization options here, including the option to “Allow Narrow Spaces,” such as a single car garage, set a custom “Summon Stop Distance” to park the vehicle a specific distance from the front of the space, and “Use Auto HomeLink” to allow the car to open and close a HomeLink connected garage door.

YouTube user Ricco831 posted a video demoing the Summon settings and using the feature to reverse park his Tesla into the garage:

How to use Summon mode to let your Tesla Model S, Model X park itself

Once you have enabled and set up Summon on your Tesla, you can use either the key fob or Tesla’s smartphone app to let your Tesla park itself or to summon it from the garage.

Apart from minor steering adjustments as Summon maneuvers your Tesla into its parking spot, the feature only works for driving in a straight line. So, to start off, you must ensure that your Tesla is perfectly lined up with your garage or the perpendicular parking space.

As seen in the above demo, Summon can be used to pull forward into a parking space and to reverse the car into a spot.

To initiate Summon, press and hold the middle button on your key fob and wait for the hazard lights to flash continuously. Next, press the front button on the key fob to pull forward into the parking space or the trunk button to reverse into the space.

If you are using Summon to let your Tesla park itself in the garage, the feature will automatically open the garage door, provided you have HomeLink enabled and the garage door is HomeLink equipped, otherwise make sure you’ve manually opened the garage door.

To cancel Summon mode and stop your Tesla, press the middle button on the key fob at any time during the parking process.

In a separate video, Ricco831 demonstrated his Tesla reversing itself out of the garage after automatically opening the garage door:

Autopark limitations using Summon mode on Tesla Model S, Model X

Tesla’s new Summon feature is not a fully autonomous parking solution, and some caveats and limitations apply.

To start with, you must park your Tesla within 33 feet of the parking space, and to initiate Autopark, you must stand no more than 10 feet from the car. While parking in Summon mode, the car will move up to 33 feet or until the sensors detect an obstacle (remember that you can also set a custom stopping distance).

As your Tesla may not detect certain obstacles in your garage, including narrow objects (like a bicycle), stuff below the fascia, or things suspended from the garage ceiling, you should continually keep an eye on the car as it parks itself and be ready to hit the middle button on your key fob if it looks like the car is about to crash into something.

Tesla also stipulates that Summon should only be used on flat driveways on private property and under the driver’s watchful eye.

While handy for getting into tight parking spots or narrow garages, Summon is limited right now. But that won’t be the case for long, says Tesla founder Elon Musk. “In two years you’ll be able to summon your car from across the country,” he told reporters on a conference call. “If your car is in New York and you are in Los Angeles, it will find its way to you.”

In a blog post announcing the feature, the company wrote that your Tesla will even charge itself on its cross-country journey and sync with your calendar so that it arrives perfectly on time.

Image via Tesla