A navigation apparatus for a vehicle registers a place of departure, a destination, and a route traveled by the vehicle; determines whether an input place of departure and input destination are respectively substantially the same as a place of departure and destination of a registered route, an input place of departure and an input destination being substantially the same as a respective place of departure and destination of a particular registered route when the input place of departure is within a predetermined distance of the place of departure of the particular registered route and the input destination is within the predetermined distance of the destination of the particular registered route; reads out the particular registered route from registered route information; and performs route guidance based on a route returned.