Urban environments are becoming more and more complex because several factors as consecutive crossroads or lanes changes. These scenarios demand specific infrastructures—i.e. roundabouts, for improving traffic flow compared with traditional intersections. A roundabout removes timeouts associated with traffic lights at crossroads and trajectory conflicts among drivers. However, it is a challenging scenario for both humans and automated vehicles. This work presents a path planning method for automated vehicle driving at roundabouts. The proposed system achieves a G1 continuous path, minimizing curvature steps to increase smoothness, dividing the driving process in three stages: entrance maneuver, driving within the roundabout and exit maneuver. Parametric equations are generated to deal with automated roundabout driving. This approach allows a real time planning considering two-lane roundabouts, taking different exits. Tests in simulated environments and on our prototype platform—Cybercar—validate the system on real urban environments, showing the proper behavior of the system.