Autonomous valet parking requires roaming the vehicle within the valet and as it arrives close enough to the target parking spot, a final maneuver is performed. In this research, such a maneuver is performed within a visual servoing framework; the relative pose of the parking spot is estimated relying on a monocular camera feed within a closed loop control system. Two control algorithms are used to solve the motion control problem, one is a cascade proportional controller with which the parking can be initiated from a defined region, another is an optimization-based control law that is tailored for L curve parking cases.