HighlightParentheses

highlight-parentheses is a minor mode to highlight parentheses surrounding point. It is unrelated to ShowParenMode, which matches parentheses. Instead it highlights all the parentheses that enclose the cursor. It is available here and via ELPA. – nschum

http://nschum.de/src/emacs/highlight-parentheses/highlight-parentheses.png

Try using the following to integrate highlight-parentheses with autopair mode:

(add-hook 'emacs-lisp-mode-hook
          '(lambda ()
             (highlight-parentheses-mode)
             (setq autopair-handle-action-fns
                   (list 'autopair-default-handle-action
                         '(lambda (action pair pos-before)
                            (hl-paren-color-update))))))

This ensures that newly created parentheses are highlighted properly. Adapt as needed for modes other than Elisp.

Better version to integrate highlight-parentheses with autopair mode:

(add-hook 'highlight-parentheses-mode-hook
          '(lambda ()
             (setq autopair-handle-action-fns
                   (append
					(if autopair-handle-action-fns
						autopair-handle-action-fns
					  '(autopair-default-handle-action))
					'((lambda (action pair pos-before)
						(hl-paren-color-update)))))))

This handles other autopair-handle-action-fns, plus works on every mode where highlight-parentheses-mode is used.

Enables highlight-parentheses-mode on all buffers:

(define-globalized-minor-mode global-highlight-parentheses-mode
  highlight-parentheses-mode
  (lambda ()
    (highlight-parentheses-mode t)))
(global-highlight-parentheses-mode t)

CategoryFaces CategoryModes ParenthesesAppearance