Semantic parsing is the task of translating natural language utterances into a machine-interpretable meaning representation. Most approaches to this task have been evaluated on a small number of existing corpora which assume that all utterances must be interpreted according to a database and typically ignore context. In this paper we present a new, publicly available corpus for context-dependent semantic parsing. The MRL used for the annotation was designed to support a portable, interactive tourist information system. We develop a semantic parser for this corpus by adapting the imitation learning algorithm DA gger without requiring alignment information during training. DA gger improves upon independently trained classifiers by 9.0 and 4.8 points in F-score on the development and test sets respectively.