To provide a parking support system to facilitate smooth crossing over level differences during parking support control.

The parking support system 1, which guides a vehicle to a set target parking position with driving force output by a driving force output means 80, comprises motion data measurement means 30, 40, 50 and 60 for measuring vehicle motion data, and a control means 90 for determining road level differences based on the vehicle motion data measured by the motion data measurement means, and when a level difference is determined, deriving an additional driving force from the vehicle motion data measured by the motion data measurement means and controlling the driving force output means to output the derived additional driving force in addition to a basic driving force, which is output from the driving force output means when no level difference is determined.