Parking assistance device and parking assistance method

A parking assistance device according to the present disclosure includes a memory and a processor coupled to the memory. The processor is configured to: record a first path based on teacher traveling in which a vehicle moves from a parking position to a parking-lot-exiting position by manual driving of a driver; generate a second path for causing the vehicle to travel from a first position where the vehicle is positioned to a joining point onto the first path; and cause the vehicle to perform automated traveling from the first position to the parking position based on the first path and the second path.