A parking assistance apparatus can include a sensor for sensing environment information of a vehicle surrounding area, a display for displaying an image of the vehicle surrounding area; and a processor to determine a parking area within the vehicle surrounding area on which parking is allowable, generate virtual parking lines within the parking area, and control the display to display the virtual parking lines, receive an input selecting a candidate parking space within the virtual parking lines, set the selected candidate parking space as a target parking position, and control a vehicle to be driven to the target parking position.