Parking assistance device and parking assistance method

The invention provides a parking assistance device and a parking assistance method which can improve the convenience of parking assistance. A parking assistance device according to the present invention performs parking assistance on the basis of a path of a vehicle during teaching travel, the parking assistance device being provided with: a restart control unit that restarts teaching travel from a predetermined position on a first path obtained by teaching travel; and a determination unit that determines, as a teaching route, a route including a route before the predetermined position on the first route and a second route obtained by the teaching travel after the restart. 本发明提供能够使泊车辅助的便利性提高的泊车辅助装置及泊车辅助方法。本发明的泊车辅助装置基于示教行驶中的车辆的路径，进行泊车辅助，该泊车辅助装置具备：重新开始控制部，其使示教行驶从第一路径上的规定位置重新开始，该第一路径是通过示教行驶而得到的路径；以及决定部，其将包含第一路径上的规定位置之前的路径和通过重新开始后的示教行驶而得到的第二路径的路径，决定为示教路径。