A vehicle charge assistance device and a vehicle including the same are disclosed. The vehicle charge assistance device includes at least one camera mounted on a vehicle, an antenna to detect a magnetic field from a charging device, and a processor to control movement of the vehicle. The processor may generate a vehicle movement direction signal based on an object associated with the charging device in an image from the at least one camera and generate a guide signal to adjust a position of the vehicle based on the magnetic field after movement of the vehicle according to the vehicle movement direction signal. Consequently, it is possible to easily and conveniently move the vehicle to the charge system.