Masood, 52, was shot dead by an armed police officer after gaining access to the Palace of Westminster grounds during the attack on central London last Wednesday.
Westminster Coroner's Court heard on Thursday that Kent-born Masood, who lived in Birmingham, mounted the kerb twice in a Hyundai car as he sped across Westminster Bridge and ploughed into crowds of people.
He then mounted it a third time, crashing, and charged into the Palace of Westminster grounds armed with two knives.
He stabbed Met Police officer Pc Keith Palmer to death as he tried to stop him entering the political hub.
In total his attack, which left four innocent people dead, including Pc Palmer, lasted just 82 seconds.
Adjourning the inquest until May, senior coroner Dr Fiona Wilcox said: "I take a moment to pass my sympathies to the family of Masood, who are also all victims of this incident."
An inquest into the deaths of Pc Palmer, 48, and three other victims.
American tourist Kurt Cochran, 54, retired window cleaner Leslie Rhodes, 75, and Aysha Frade, 44, died after being hit on Westminster Bridge.
Another person remains in a coma following the attack which left more than 35 people injured, Scotland Yard said.
The Independent Police Complaints Commission has launched an investigation into Masood's death.