A parking assist device includes an electronic control unit (14). The electronic control unit (14) is configured to: at the time of assisting in parking a vehicle (1) to a parking area, determine a path from an initial position of the vehicle (1) to a target position; generate a first circumference that passes through the initial position and that touches a traveling direction of the vehicle, as the path; determine a center position on the basis of a position of a rear corner of a parked vehicle (300a) ahead, a turning radius of the vehicle (1) at a minimum turn and the target position; and generate a second circumference that has a center at the center position and that passes through the target position and touches both the traveling direction of the vehicle at the target position and the first circumference, as the path continuous with the first circumference.