Disclosed is a system of providing a parking guidance service of a vehicle including a sensor unit including a plurality of sensors configured to sense an environment around the vehicle and a parking space, a database unit configured to store parking pattern data of a driver, a controller configured to determine a parking difficulty of the parking space based on information sensed by the sensor unit and parking pattern data of the driver, stored in the database unit, and an output unit configured to provide information on the parking difficulty of the parking space, determined by the controller.