Method and apparatus are disclosed for remote park-assist authentication for vehicles. An example vehicle includes an autonomy unit to control motive functions for remote parking, a communication module to receive a signal for remote parking from a mobile device, and a parking authenticator. The parking authenticator is to present an image upon receiving the signal and receive, via the communication module, an audio identification from the mobile device. Also, the parking authenticator is to authenticate the mobile device to initiate remote parking in response to determining the audio identification corresponds to the image.