1. Remove wrappers from 8 peanut butter cups; cut into small pieces.
2. Prepare pudding with milk following package directions. Stir in chopped peanut butter cups; stir until melted and mixture is smooth. Divide evenly into 4 parfait glasses. Press plastic wrap directly onto pudding surface.
3. Refrigerate several hours or until chilled. Garnish with whipped topping and peanut butter cup pieces, if desired. 4 servings.