A driver assistance device mounted on a vehicle includes a communication unit; an output unit; an input unit configured to detect user input; and a control unit configured to perform driver assistance with use of a point on a map as a destination. The control unit is configured to i) execute a connection process to connect the driver assistance device to a terminal device wirelessly via the communication unit, ii) output identification information on the terminal device as an image or a voice via the output unit after the driver assistance device is wirelessly connected to the terminal device, and iii) execute a setting process to set the point determined by the terminal device as the destination for the driver assistance in a case where the control unit detects specified user input via the input unit after outputting the identification information on the terminal device.