Disclosed herein are a parking assistance apparatus and a parking assistance method thereof. The parking assistance apparatus includes a sensing unit sensing at least one of forward and backward access distances to a current surrounding object, a controller performing an electronic parking brake operation and including predetermined forward and backward access distance ranges to a reference surrounding object, a first judgment unit judging whether or not at least one access distance deviates from at least one access distance range, a display unit displaying the at least one access distance and the at least one access distance range, if the first judgment unit judges that the at least one access distance deviates from the at least one access distance range, and a steering driving unit driving an electronic steering driving apparatus until the at least one access distance enters the at least one access distance range.