  AR Scorpii (AR Sco), the only-known radio-pulsing white dwarf binary, shows
unusual pulsating emission at the radio, infrared, optical and ultraviolet
bands. To determine its astrometric parameters at the radio band independently,
we conducted multi-epoch Very Long Baseline Interferometry (VLBI)
phase-referencing observations with the European VLBI Network (EVN) at 5 GHz
and the Chinese VLBI Network (CVN) plus the Warkworth 30-metre telescope (New
Zealand) at 8.6 GHz. By using the differential VLBI astrometry, we provide
high-precision astrometric measurements on the parallax
($\pi=8.52_{-0.07}^{+0.04}$ mas), and proper motion
($\mu_{\alpha}=9.48_{-0.07}^{+0.04}$ mas yr$^{-1}$,
$\mu_{\delta}=-51.32_{-0.38}^{+0.22}$ mas yr$^{-1}$). The new VLBI results
agree with the optical Gaia astrometry. Our kinematic analysis reveals that the
Galactic space velocities of AR Sco are quite consistent with that of both
intermediate polars (IPs) and polars. Combined with the previous tightest VLBI
constraint on the size, our parallax distance suggests that the radio emission
of AR Sco should be located within the light cylinder of its white dwarf.
