How to properly use the Audi parking brake?

I recently purchased an Audi and I'm wondering how to properly use the parking brake. Should I engage it every time I park or only on inclines? And how do I disengage it?

It's always a good idea to engage the parking brake whenever you park, regardless of whether it's on an incline or not. This can prevent your car from rolling away, especially if you accidentally leave it in neutral. To disengage the parking brake, simply press the release button on the lever and slowly release the lever.