A disclosed parking assisting apparatus can determine the angle of the own vehicle to be changed at the time of parking in a parking space by precisely estimating the direction of the parking space next to a parked vehicle. The parking assisting apparatus 10A, 10B for assisting tandem type parking of a vehicle in a parking space next to a parked vehicle comprises distance data acquiring means 70 for acquiring distance data representing a distance between an own vehicle and a plurality of points on a side of the parked vehicle when the own vehicle passes on the side of the parked vehicle, said parked vehicle existing on a proximal side of the parking space in a traveling direction of the own vehicle; and inclination angle calculating means 12A, 12B for calculating an inclination angle which is an angle of the traveling direction of the own vehicle with respect to the side of the parked vehicle, based on the distance data acquired by the distance data acquiring means; wherein said apparatus is configured to determine an angle to be changed at the time of parking in the parking space in a tandem type parking manner, based on the inclination angle calculated by the inclination angle calculating means.