Parking difficulties are becoming increasingly prominent in cities with the rapid growth of car ownership and ineffective indoor position of global positioning system (GPS). We propose that visible light indoor positioning technology, with the use of LED lamps as communication equipment, can be applied to indoor parking lots to achieve high-precision navigation. In our system, the parking occupancy information is detected by reflective infrared sensors and modulated with light ID codes into LED lamps. PIN photodiode (PD) sensors receive light information and detect light intensity, then with the combined use of proximity and fingerprint methods to calculate the position coordinates, real-time positioning and navigation in indoor parking lots can be achieved. Our experiments have proved that when the LED light intensity is greater than 180 lux and the communication distance is less than 3 m, the communication requirements can be met. Through continuous positioning trajectory testing, it was found that the combination of the proximity and fingerprint methods has higher positioning accuracy than the proximity method alone and can meet the needs of indoor parking positioning and navigation.