In a parking assistance apparatus disclosed herein, a position and a yaw angle of a vehicle are acquired continuously from an initial stop position A, and a vehicle mark C2′ in moving the vehicle backwards with a steering angle maintained during a backward movement operation from a backward movement start position B in parking the vehicle in a target parking space S is displayed on a display. The vehicle mark C2′ is displayed in a shifting manner on the display such that the target parking space S is traced based on a momentary steering angle and a momentary yaw angle of the vehicle, which result from backward movement of the vehicle. When the vehicle mark C2′ deviates from the target parking space S during the backward movement operation, a driver adjusts the steering angle. The vehicle mark C2′ is shifted on the display based on a change in the steering angle to be turned into a vehicle mark C4 at a suitable position corresponding to the target parking space S.