A method for assisting a maneuvering process of a motor vehicle, and a parking assistance device are provided. In a method for assisting a maneuvering process of a motor vehicle, wherein longitudinal and lateral control of the movement of the motor vehicle is carried out on the basis of predefined setpoint values of the direction of travel, speed or steering angle in order to automatically carry out the maneuvering process, at least some of these setpoint values and the chronological sequence in which the setpoint values are predefined during the maneuvering process are stored.