In Java I can do start a parallel thread, let it run and catch up/join with it later.
I know how to start parallel task in Jenkins Pipeline but how can I let them run and do other stuff meanwhile and catch up with them later?

Callable<MyResult> callable = new Callable<MyResult>() { ... };
Future<MyTask> task = executor.execute(callable);

do other things here

MyResult res = task.get()