diff --git a/hubero_ros_scenarios/README.md b/hubero_ros_scenarios/README.md
index 0bf5b78..6f2f97f 100644
--- a/hubero_ros_scenarios/README.md
+++ b/hubero_ros_scenarios/README.md
@@ -24,6 +24,8 @@ In the second terminal, run scenario execution:
 rosrun hubero_ros_scenarios parking_node 3
 ```
 
+The `parking` scenario is implemented relying on tasks execution in separate threads.
+
 ### `living room` scenario
 
 
diff --git a/hubero_ros_scenarios/src/parking_node.cpp b/hubero_ros_scenarios/src/parking_node.cpp
index ad20711..075123d 100644
--- a/hubero_ros_scenarios/src/parking_node.cpp
+++ b/hubero_ros_scenarios/src/parking_node.cpp
@@ -11,12 +11,6 @@ using namespace hubero;
 
 const std::string TF_FRAME_REF = "world";
 
-/// Allows to process any ROS callbacks
-void waitRefreshingRos() {
-	std::this_thread::sleep_for(std::chrono::milliseconds(100));
-	ros::spinOnce();
-}
-
 int main(int argc, char** argv) {
 	// node initialization
 	ros::init(argc, argv, "parking_scenario_node");
@@ -36,7 +30,21 @@ int main(int argc, char** argv) {
 
 	// wait
 	ROS_INFO("TaskRequestRos APIs fired up, scenario execution will start in %lu seconds", launch_delay / 1000);
-	std::this_thread::sleep_for(std::chrono::milliseconds(launch_delay));
+	hubero::TaskRequestRosApi::waitRosTime(launch_delay / 1000);
+
+	// preparation
+	std::function<TaskFeedbackType()> actor4_move_feedback_checker = [&actor4]() -> hubero::TaskFeedbackType {
+		return actor4.getMoveToGoalState();
+	};
+	std::function<TaskFeedbackType()> actor3_move_feedback_checker = [&actor3]() -> hubero::TaskFeedbackType {
+		return actor3.getMoveToGoalState();
+	};
+	std::function<TaskFeedbackType()> actor2_move_feedback_checker = [&actor2]() -> hubero::TaskFeedbackType {
+		return actor2.getMoveToGoalState();
+	};
+	std::function<TaskFeedbackType()> actor1_move_feedback_checker = [&actor1]() -> hubero::TaskFeedbackType {
+		return actor1.getMoveToGoalState();
+	};
 
 	// =================== 1st stage ========================================
 	/* Actor4 and Actor3 go straight to their cars;
@@ -48,38 +56,24 @@ int main(int argc, char** argv) {
 	actor2.moveToGoal(Vector3(+7.0, +2.9, 0.0), 0.0, TF_FRAME_REF);
 	actor1.moveToGoal(Vector3(+1.2, -5.7, 0.0), IGN_PI, TF_FRAME_REF);
 
+	actor4.startThreadedExecution(std::cref(actor4_move_feedback_checker), "moveToGoal");
+	actor3.startThreadedExecution(std::cref(actor3_move_feedback_checker), "moveToGoal");
+	actor2.startThreadedExecution(std::cref(actor2_move_feedback_checker), "moveToGoal");
+	actor1.startThreadedExecution(std::cref(actor1_move_feedback_checker), "moveToGoal");
+
 	ROS_INFO("[SCENARIO] 1st stage completed!");
 
 	// =================== 2nd stage ========================================
-	// we will be waiting for actor2's task finish, so we must also know if the task request was processed
-	if (actor2.getMoveToGoalState() != TASK_FEEDBACK_ACTIVE) {
-		while (actor2.getMoveToGoalState() != TASK_FEEDBACK_ACTIVE) {
-			if (!ros::ok()) {
-				ROS_INFO("Node stopped!");
-				return (0);
-			}
-			ROS_INFO("Waiting for Actor2 task to become active. Current state %d...", actor2.getMoveToGoalState());
-			waitRefreshingRos();
-		}
-	}
 
-	ROS_INFO("Task of Actor2 is active! Waiting until he finishes 'moveToGoal'");
-	while (actor2.getMoveToGoalState() == TASK_FEEDBACK_ACTIVE) {
-		if (!ros::ok()) {
-			ROS_INFO("Node stopped!");
-			return (0);
-		}
-		waitRefreshingRos();
-	}
+	ROS_INFO("Waiting until Actor2 finishes 'moveToGoal'");
+	actor2.join();
 
 	ROS_INFO("[SCENARIO] Firing up the 2nd stage!");
 
 	/* Actor2 talks for few seconds */
 	ROS_INFO("Actor2 got to the place! He will start talking to the person nearby!");
 	actor2.talk(Vector3(+7.0, +2.9, 0.0), IGN_DTOR(90), TF_FRAME_REF);
-
-	std::this_thread::sleep_for(std::chrono::milliseconds(5000));
-	ros::spinOnce();
+	hubero::TaskRequestRosApi::wait(std::chrono::milliseconds(5000));
 
 	ROS_INFO("Actor2 finishes talking to the person nearby!");
 	actor2.stopTalking();
@@ -88,26 +82,9 @@ int main(int argc, char** argv) {
 
 	// =================== 3rd stage ========================================
 
-	// actor1 will surely go for a longer time than actor2
-	if (actor1.getMoveToGoalState() != TASK_FEEDBACK_ACTIVE) {
-		while (actor1.getMoveToGoalState() != TASK_FEEDBACK_ACTIVE) {
-			if (!ros::ok()) {
-				ROS_INFO("Node stopped!");
-				return (0);
-			}
-			ROS_INFO("Waiting for Actor1 task to become active. Current state %d...", actor2.getMoveToGoalState());
-			waitRefreshingRos();
-		}
-	}
-
-	ROS_INFO("Task of Actor1 is active! Waiting until he finishes 'moveToGoal'");
-	while (actor1.getMoveToGoalState() == TASK_FEEDBACK_ACTIVE) {
-		if ( !ros::ok() ) {
-			ROS_INFO("Node stopped!");
-			return (0);
-		}
-		waitRefreshingRos();
-	}
+	// actor1 will most likely go for a longer time than actor2
+	ROS_INFO("Waiting until Actor1 finishes 'moveToGoal'");
+	actor1.join();
 	ROS_INFO("Actor1 threw the rubbish away to the dumpster!");
 
 	ROS_INFO("[SCENARIO] Firing up the 3rd stage!");
@@ -116,34 +93,16 @@ int main(int argc, char** argv) {
 	ROS_INFO("Actor1 and Actor2 start moving towards their cars!");
 	actor2.moveToGoal(Vector3(-3.5, +10.5, 0.0), IGN_PI, TF_FRAME_REF);
 	actor1.moveToGoal(Vector3(-0.5, +14.8, 0.0), IGN_PI, TF_FRAME_REF);
+	actor2.startThreadedExecution(actor2_move_feedback_checker, "moveToGoal");
+	actor1.startThreadedExecution(actor1_move_feedback_checker, "moveToGoal");
 
-	// wait until request processed
-	if (actor1.getMoveToGoalState() != TASK_FEEDBACK_ACTIVE	|| actor2.getMoveToGoalState() != TASK_FEEDBACK_ACTIVE) {
-		while (actor1.getMoveToGoalState() != TASK_FEEDBACK_ACTIVE || actor2.getMoveToGoalState() != TASK_FEEDBACK_ACTIVE) {
-			if (!ros::ok()) {
-				ROS_INFO("Node stopped!");
-				return (0);
-			}
-			ROS_INFO(
-				"Waiting for Actor1 or Actor2 task to become active. Current state: A1 %d, A2 %d...",
-				actor1.getMoveToGoalState(),
-				actor2.getMoveToGoalState()
-			);
-			waitRefreshingRos();
-		}
-	}
-
+	// the requests are processed is separate threads
 	ROS_INFO("Actor1 and Actor2 are moving towards cars! Waiting until they reach their goal");
-	while (
-		actor1.getMoveToGoalState() == TASK_FEEDBACK_ACTIVE
-		|| actor2.getMoveToGoalState() == TASK_FEEDBACK_ACTIVE
-	) {
-		if ( !ros::ok() ) {
-			ROS_INFO("Node stopped!");
-			return (0);
-		}
-		waitRefreshingRos();
-	}
+	actor1.join();
+	actor2.join();
+
+	actor3.join();
+	actor4.join();
 
 	ROS_INFO("[SCENARIO] 3rd stage completed!");