Vehicle control apparatus and vehicle control method

A vehicle control apparatus which performs a parking control of a vehicle, includes a wheel setting unit configured to set at least one brake wheel which is a wheel to which a braking force is applied during the parking control and at least one non-brake wheel which is a wheel to which the braking force is not applied during the parking control, and a control unit configured to perform the parking control of the vehicle based on a rotation amount of at least one brake wheel and a rotation amount of at least one non-brake wheel detected by a wheel speed sensor detecting the rotation amount of a wheel of the vehicle.