A parking assist device includes: a display device that is arranged behind a steering wheel from a driver and that displays parking assist information; a driving unit that drives the steering wheel; a detecting unit which detects whether the vehicle has moved through a switching position and reached a predetermined state; and a control unit which, during parking assist, controls the driving unit to rotationally drive a rotation angle position of the steering wheel to a specific position at which it is estimated that at least the parking assist information is visually recognizable by the driver when it is detected that the vehicle has moved through the switching position and reached the predetermined state.