Some people believe multitasking is a myth. I'm one of those people. I also believe when listening audio books, you shouldn't do anything else. Probably not even driving. Laying in bed or sitting in the sofa are my best ways.
Lots of people get very interested in audibooks and quickly stop listening, citing concentration issues. I always recommend to those people to stop doing whatever else they are doing and simply listen to the book, and people often come back to me and tell me they gave it a second shot and love it.