An apparatus and a method for generating a path of a vehicle are provided. The apparatus includes a first sensor that detects lane marking information, a second sensor that detects a driving speed ofa subject vehicle, a third sensor that detects a yaw rate of the subject vehicle and a fourth sensor that detects a relative position of a preceding vehicle with respect to the subject vehicle. A controller then calculates a trajectory of the preceding vehicle based on the driving speed and the yaw rate of the subject vehicle and the relative position of the preceding vehicle with respect to the subject vehicle. Additionally, the controller generates a driving path of the subject vehicle using of the calculated trajectory of the preceding vehicle and the lane marking information.