PARKING ASSISTANCE DEVICE

A parking assistance device that includes an actuating device that automatically steers steered wheels by actuating a steering device, and an electronic control unit that controls the actuating device, and the electronic control unit is configured to control the actuating device such that a vehicle moves to a target parking position when a command for parking assistance is received, in which the electronic control unit is further configured to perform, when parking has been completed, a first steering angle correction that controls the actuating device such that the steering angle changes by a first target steering angle correction amount toward the side opposite to a present steering angle with respect to a target steering angle.