The P-gear parking system, as a type of automotive braking system, is used to ensure stable parking of vehicles and shoulder the responsibility of parking safety. In addition to ensuring stable parking in a stationary state, the P-gear parking system should also have the function of low-speed dynamic parking and the function of prohibiting parking at high speeds. The dynamic parking process is very complex, and it is difficult to establish an accurate P-gear parking system model using traditional mathematical modeling methods. In order to accurately describe the characteristics of the dynamic parking process and provide reliable basis for control strategy formulation, this paper proposes a joint modeling method of multi-body dynamics and control algorithms, establishes a joint simulation model of the P-gear parking system based on Adams and Matlab/Simulink software, and proposes a position, speed, and current closed-loop control strategy to study the parking characteristics of the parking system under three different speed conditions: high speed, low speed, and static. The simulation results show that the constructed simulation model meets the performance description requirements of the P-gear parking system and verifies the effectiveness of the control algorithm.