A drive assist apparatus completes switching of a driving mode of a vehicle from autonomous driving to manual driving at a switching completion point. The drive assist apparatus includes an arrival window time calculation unit configured to calculate an arrival window time before the vehicle arrives at the switching completion point based on a current position and speed of the vehicle, a driving concentration degree estimation unit configured to estimate a degree of driving concentration of a driver based on a state of the driver when the arrival window time is equal to or shorter than a predetermined time, and a stimulation providing unit configured to provide a stimulation to the driver according to the degree of driving concentration. In a case where the degree driving concentration is equal to or less than a threshold value set in advance, the stimulation providing unit provides a stimulation to the driver, which is stronger than in a case where the degree of driving concentration is greater than the threshold value, or provides a stronger stimulation to the driver in accordance with a reduction in the degree of driving concentration.