Given sparse multi-dimensional data (e.g., (user, movie, time; rating) for movie recommendations), how can we discover latent concepts/relations and predict missing values? Tucker factorization has been widely used to solve such problems with multi-dimensional data, which are modeled as tensors. However, most Tucker factorization algorithms regard and estimate missing entries as zeros, which triggers a highly inaccurate decomposition. Moreover, few methods focusing on an accuracy exhibit limited scalability since they require huge memory and heavy computational costs while updating factor matrices.In this paper, we propose P-TUCKER, a scalable Tucker factorization method for sparse tensors. P-TUCKER performs alternating least squares with a row-wise update rule in a fully parallel way, which significantly reduces memory requirements for updating factor matrices. Furthermore, we offer two variants of P-TUCKER: a caching algorithm P-TUCKER-CACHE and an approximation algorithm P-TUCKER-APPROX, both of which accelerate the update process. Experimental results show that P-TUCKER exhibits 1.7-14.1× speed-up and 1.4-4.8× less error compared to the state-of-the-art. In addition, P-TUCKER scales near linearly with the number of observable entries in a tensor and number of threads. Thanks to P-TUCKER, we successfully discover hidden concepts and relations in a large-scale real-world tensor, while existing methods cannot reveal latent features due to their limited scalability or low accuracy.