The disclosure relates to a method and a driver assistance system for assisted reversing with a vehicle-trailer combination, wherein, initially when it is driven forwards, its forward trajectory is stored and objects arranged laterally next to the forward trajectory are detected. A reversing trajectory, which deviates as little as possible from the driven forward trajectory, is planned. The detected object is classified as a collision object if it lies in the planned reversing trajectory. In such case, a new reversing trajectory that is free of collision objects is generated. The trailer is reversed along the new reversing trajectory. A current deviation of an actual reversing trajectory of the trailer from the new reversing trajectory is thereby determined, and when the current deviation is greater than a permissible limit deviation, the trailer is stopped to allow performing a corrective action. The assisted reversing is resumed after corrective action has been performed.