A method for assisted parking of a vehicle performed by a parking control device. The method includes: determining a current position of a vehicle based on at least one of GPS information or environment information of the vehicle; generating traveling map information during manual driving of the vehicle, the traveling map information including a traveling path of the vehicle from the current position of the vehicle, based on at least one user input received through a vehicle manipulation device and at least one sensor value acquired through at least one sensor; and transmitting, based on receiving a rollback request signal, a rollback control signal that causes the vehicle to autonomously drive in a reverse direction along at least part of the traveling path from a rollback starting position of the vehicle.