Newer Tesla Motors Model S sedans will be able to steer and park themselves under certain conditions starting Thursday, the carmaker said, although Chief Executive Officer Elon Musk cautioned that drivers should keep holding the steering wheel.

“We’re being especially cautious at this stage so we’re advising drivers to keep their hands on the wheel just in case,” Musk told reporters at the company’s Silicon Valley headquarters. “Over time there will not be a need to have your hands on the wheel.”