A parking assistance system for supporting a parking maneuver of a motor vehicle, during which the motor vehicle is automatically moved into a parked position. The parking assistance system has an unloading mode that can be activated by a user to enable the unloading of an object and/or to enable the disembarkation of a passenger before completion of the parking maneuver, wherein a temporary stop of the motor vehicle in an unloading position is automatically caused before reaching the parked position in response to the activation of said unloading mode.