Time of concentration (TC) is a parameter in runoff estimation, used to study and design different types of projects in watersheds. Any error in TC calculation leads to an inaccurate estimation of the design flow, which can lead to over-sizing or under-sizing of designed facilities that can have great economic and environmental consequences. Therefore, choosing the correct method to estimate TC is of great importance. Due to the diversity of estimation methods in the literature, the obtained TC values are different. This study aims to present a new method to calculate TC, based on its main concept, i.e., the time required for a water parcel to reach its outlet from the farthest hydrological point of a watershed. A two-dimensional hydraulic simulation was used to model the water parcel travel. A watershed was selected as a case study, and its time of concentration was determined by salt solution tracing. The field measurement results were used for calibration of the numerical simulation model. Meanwhile, 31 empirical relations in the literature were reviewed to determine the most accurate ones. Estimated TC values were compared with the measured ones, and the relative error percentage was used to evaluate the accuracy of the result. In the empirical TC methods, the maximum error was above 300%, and the minimum error was 6.7% for the field studied area. The relative errors of hydraulic simulation outputs were between 3 and 27%. The results showed that only three empirical methods, namely Simas and Hawkins, SCS_lag, and Yen and Chow, had the least errors respectively equal to 6.7%, 8.660%, and 13.5%, which can be recommended for the studied area and those with similar hydrological characteristics. On the other hand, hydraulic simulation is also introduced as an efficient method to determine TC which can be used in any desired watershed.