Method and apparatus are disclosed for mobile device tethering for a remote parking assist system of a vehicle. An example vehicle includes an active safety module and a body control module. The active safety module to, when active, autonomously parks the vehicle. The body control module determines an initial location of the mobile device and determines a current location of the mobile device using a current position received from the mobile device. The current position received from the mobile device is defined relative to the initial location. Additionally, the body control module, when the mobile device is within a virtual boundary, enables an autonomous parking system of the active safety module.