A parking assisting device including an image capturing unit for capturing at least an image behind the vehicle, a monitor for displaying the image obtained by the image capturing unit, a yaw angle detecting unit for detecting a yaw angle of the vehicle, a guiding unit for outputting guidance information to the driver and a controller for comparing a prescribed yaw angle corresponding to a predetermined vehicle position with the yaw angle of the vehicle detected by the yaw angle detecting unit, to identify a current position of the vehicle, and providing guidance information via the guiding unit while displaying at least one of a predicted path and a predicted parking position on the monitor so as to overlap with the image obtained by the image capturing unit to enable the driver to confirm whether the vehicle can be parked in target parking space.