Disclosed herein are a walking assistance apparatus including a drive portion capable of adjusting tension of a fixing portion, and a method of controlling the same. The walking assistance apparatus includes a support portion which applies assist power to assist walking to a human body, a fixing portion which is arranged at one end of the support portion to enclose the human body and fixes the support portion on the human body, a drive portion including at least one motor which adjusts tension of the fixing portion, and a control portion which adjusts a driving direction of the at least one motor during rotation of the support portion in order to prevent the fixing portion from rotating by assist power applied through the support portion.