A system (105; 400; 500; 600; 700; 1600) for milking dairy livestock having fore legs and hind legs comprising: a parallel milking parlor ramp (510; 520; 610; 710); livestock stalls (120; 501; 502; 503; 504; 601; 602; 603; 604; 605; 606; 607; 608; 701; 702; 703; 704; 705) positioned along at least part of the parallel milking parlor ramp (510; 520; 610; 710), wherein each stall (120; 501; 502; 503; 504; 601; 602; 603; 604; 605; 606; 607; 608; 701; 702; 703; 704; 705) is configured to contain one dairy livestock; at least one vertical upright teat cup holder comprising teat cups (621; 622; 623; 624; 631; 632; 633; 634; 1101; 1102; 1103; 1104); a mobile unit (140; 441; 442; 443; 444; 445; 446; 447; 415; 540; 541; 542; 543; 544; 545; 546; 641; 642; 643; 644; 741; 742; 743; 744; 1441; 1442; 1443; 1444; 1541; 1542; 1543; 1544; 1641; 1642; 1643; 1644; 1300; 2220) comprising equipment for milking livestock and a processor (310, 474), the mobile unit (140; 441; 442; 443; 444; 445; 446; 447; 415; 540; 541; 542; 543; 544; 545; 546; 641; 642; 643; 644; 741; 742; 743; 744; 1441; 1442; 1443; 1444; 1541; 1542; 1543; 1544; 1641; 1642; 1643; 1644; 1300; 2220) configured to: travel between the fore legs and hind legs of the dairy livestock on the parallel milking parlor ramp (510; 520; 610; 710); and use the equipment to milk the dairy livestock; and wherein the equipment includes an arm (215; 425; 1301) configured to withdraw the teat cups (621; 622; 623; 624; 631; 632; 633; 634; 1101; 1102; 1103; 1104) from the vertical upright teat cup holder and connect them to the dairy livestock and wherein the teat cups (621; 622; 623; 624; 631; 632; 633; 634; 1101; 1102; 1103; 1104) comprise holes in which the teats are positioned, and the teat cups (621; 622; 623; 624; 631; 632; 633; 634; 1101; 1102; 1103; 1104) are positioned vertically upright in the teat cup holder, such that the holes in which the teats are positioned face upwards; and wherein the vertical upright teat cup holder comprises at least one flap (1110, 1120) for covering the holes to mechanically hold the vacuum in the teat cups covered by said at least one flap, such that the teat cups (621; 622; 623; 624; 631; 632; 633, 634; 1101; 1102; 1103; 1104) can be connected directly to a main milk line through tubes that do not include pressure valves for controlling pressure in the teat cups (621; 622; 623; 624; 631; 632; 633; 634; 1101; 1102; 1103; 1104). a parallel milking parlor ramp (510; 520; 610; 710); livestock stalls (120; 501; 502; 503; 504; 601; 602; 603; 604; 605; 606; 607; 608; 701; 702; 703; 704; 705) positioned along at least part of the parallel milking parlor ramp (510; 520; 610; 710), wherein each stall (120; 501; 502; 503; 504; 601; 602; 603; 604; 605; 606; 607; 608; 701; 702; 703; 704; 705) is configured to contain one dairy livestock; at least one vertical upright teat cup holder comprising teat cups (621; 622; 623; 624; 631; 632; 633; 634; 1101; 1102; 1103; 1104); a mobile unit (140; 441; 442; 443; 444; 445; 446; 447; 415; 540; 541; 542; 543; 544; 545; 546; 641; 642; 643; 644; 741; 742; 743; 744; 1441; 1442; 1443; 1444; 1541; 1542; 1543; 1544; 1641; 1642; 1643; 1644; 1300; 2220) comprising equipment for milking livestock and a processor (310, 474), the mobile unit (140; 441; 442; 443; 444; 445; 446; 447; 415; 540; 541; 542; 543; 544; 545; 546; 641; 642; 643; 644; 741; 742; 743; 744; 1441; 1442; 1443; 1444; 1541; 1542; 1543; 1544; 1641; 1642; 1643; 1644; 1300; 2220) configured to: travel between the fore legs and hind legs of the dairy livestock on the parallel milking parlor ramp (510; 520; 610; 710); and use the equipment to milk the dairy livestock; and travel between the fore legs and hind legs of the dairy livestock on the parallel milking parlor ramp (510; 520; 610; 710); and use the equipment to milk the dairy livestock; and wherein the equipment includes an arm (215; 425; 1301) configured to withdraw the teat cups (621; 622; 623; 624; 631; 632; 633; 634; 1101; 1102; 1103; 1104) from the vertical upright teat cup holder and connect them to the dairy livestock and wherein the teat cups (621; 622; 623; 624; 631; 632; 633; 634; 1101; 1102; 1103; 1104) comprise holes in which the teats are positioned, and the teat cups (621; 622; 623; 624; 631; 632; 633; 634; 1101; 1102; 1103; 1104) are positioned vertically upright in the teat cup holder, such that the holes in which the teats are positioned face upwards; and wherein the vertical upright teat cup holder comprises at least one flap (1110, 1120) for covering the holes to mechanically hold the vacuum in the teat cups covered by said at least one flap, such that the teat cups (621; 622; 623; 624; 631; 632; 633, 634; 1101; 1102; 1103; 1104) can be connected directly to a main milk line through tubes that do not include pressure valves for controlling pressure in the teat cups (621; 622; 623; 624; 631; 632; 633; 634; 1101; 1102; 1103; 1104).