Steering control device and steering control method

A steering control device for reducing a steering load on the driver by adjusting a gain of a rear wheel steering angle with respect to a front wheel steering angle operated by the driver according to a relative relationship between the vehicle and the parking frame to enable fine steering of the own vehicle near the parking frame when the four-wheel steering vehicle is parked. The steering control device is configured to control a rear wheel steering angle by a rear wheel steering system based on a front wheel steering angle operated by a driver, and includes an arithmetic device configured to reduce an absolute value of a gain of the rear wheel steering angle with respect to the front wheel steering angle as a positional relationship between an own vehicle and a parking frame comes closer when an own vehicle shifts to a parking driving mode.