Parallel tempering is a generic Markov chain Monte Carlo sampling method which allows good mixing with multimodal target distributions, where conventional Metropolis-Hastings algorithms often fail. The mixing properties of the sampler depend strongly on the choice of tuning parameters, such as the temperature schedule and the proposal distribution used for local exploration. We propose an adaptive algorithm with fixed number of temperatures which tunes both the temperature schedule and the parameters of the random-walk Metropolis kernel automatically. We prove the convergence of the adaptation and a strong law of large numbers for the algorithm under general conditions. We also prove as a side result the geometric ergodicity of the parallel tempering algorithm. We illustrate the performance of our method with examples. Our empirical findings indicate that the algorithm can cope well with different kinds of scenarios without prior tuning. Supplementary materials including the proofs and the Matlab implementation are available online.