An imaging neutral particle analyser (INPA) diagnostic has been installed and commissioned at the ASDEX Upgrade (AUG) tokamak. The AUG INPA diagnostic provides energy and radially resolved measurements of the fast-ion (FI) distribution, complementing the existing set of diagnostic which measure the confined FI population. To this end, it analyses charge exchange (CX) neutrals produced in reactions between FI and neutrals injected by a neutral beam injector. These CX neutrals are ionised by a 20 nm carbon foil and deflected towards a scintillator by the machine magnetic field. The use of a scintillator as active component allows us to cover the whole plasma radial range with an energy resolution of 9 keV and a spatial of 3 cm for 93 keV deuterons. First measurements demonstrate the high sensitivity of the INPA diagnostic to different AUG fast-ion distribution functions, from NBI and ion-cyclotron resonance heating origin, and show good agreement with the synthetic diagnostic.