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QR code has been applied in many ways from marketing products, locating promotional items on shelves, finding stores and etc. In this study, we report on an android based application development aimed to provide navigation services to locate parked vehicles in an indoor parking space of shopping malls. We utilise the motion sensor, bar code scanner function and camera function built in smartphones. This application is able to show the route from user current location to his parked vehicle based on an indoor map of the parking area stored in a database. In addition, it is also able to automatically detect user's current movement based on steps calculation. A field test was conducted in a shopping mall indoor parking space to evaluate the performance of the application. In general, the application has shown promising results.