The present invention relates to a vehicle towing device and a vehicle towing method thereof, wherein the vehicle towing device of the present invention comprises a front yoke (1), a rear yoke (3), a front yoke shaft (2) ,a rear yoke shaft (4), a towing mechanism (5), a control unit, a drive unit and a towing path (7), the front yoke (1) and the rear yoke (3) are respectively connected to the front yoke shaft (2) and rear yoke shaft (4), and can rotate horizontally around the front yoke shaft and the rear yoke shaft under the control of the control unit, respectively, the front yoke shaft (2) and the rear yoke shaft (4) are connected to the towing mechanism (5) in tandem, the drive unit drives the towing mechanism (5) to run in the towing path (7), and the axial directions of both the front yoke shaft (2) and the rear yoke shaft (4) are perpendicular to a surface of the towing mechanism (5). The vehicle towing device and the vehicle towing method can reduce the amount of construction work and increase the efficiency of vehicle towing, and enable installation and operation more flexible ( Fig.2B ).