The Parker solar probe (PSP) mission launched by NASA in 2018 was designed to study the solar wind at unprecedently close distances to the Sun – a mission to “touch the Sun”. The spacecraft was designed to approach the Sun to 9.89 solar radii through a series of orbits using Venus gravitational assist flybys. The PSP carries a suite of scientific instruments that include the Solar Wind Electrons Alphas and Protons (SWEAP) Investigation, the Wide-field Imager for Solar PRobe (WISPR), and the Integrated Science Investigation of the sun (IS☉IS) that detects energetic electrons, protons and heavy ions. On 24 December 2024 PSP has made its first closest approach to the Sun providing unprecedent new observations of the solar wind in the acceleration region.  The observations provided unprecedented new details of solar wind plasma close to the Sun that revolutionized our understanding of the of solar wind formation and origin. Some of the discoveries are the detection of magnetic switchbacks, the strong kinetic wave activity and ion kinetic instabilities in the solar wind plasma. I will provide an overview of the PSP main discoveries and will present our recent work that uses PSP data for modeling of the main kinetic mechanisms associated with solar wind heating and acceleration. I will discuss the impact of PSP discoveries on our understanding of the heliospheric plasma.