To provide a parking assist device allowing a driver to manipulate a vehicle from a position capable of easily judging the presence of an obstacle, a clearance between the obstacle and the vehicle, and possibility of collision, and requiring no skillfulness of operation.

The parking assist device is equipped with a target steering amount calculating means for determining the target steering amount to represent the steering angle or steering position necessary for parking the vehicle in the given space, an automatic steering means to operate the actual steering amount which represents the actual steering angle or steering position of the vehicle so that it becomes identical to the target steering amount, a remote controller for instructing retreat and stop of the vehicle, and an operation control means to retreat and stop the vehicle in conformity to the instruction of the remote controller.