An important desired ingredient of superconducting quantum circuits is a readout scheme whose complexity does not increase with the number of qubits involved in the measurement. Here, we present a readout scheme employing a single microwave line, which enables simultaneous readout of multiple qubits. Consequently, scaling up superconducting qubit circuits is no longer limited by the readout apparatus. Parallel readout of 6 flux qubits using a frequency division multiplexing technique is demonstrated, as well as simultaneous manipulation and time resolved measurement of 3 qubits. We discuss how this technique can be scaled up to read out hundreds of qubits on a chip. © 2012 American Institute of Physics.