We show that a completely regular space Y is a p-space (a Čech-complete space, a locally compact space) if and only if given a dense subspace A of any topological space X and a continuous f: A → Y there are a p-embedded subset (resp. a G δ-subset, an open subset) M of X containing A and a quasicontinuous subcontinuous extension f*: M → Y of f continuous at every point of A. A result concerning a continuous extension to a residual set is also given.