A parking assist device according to an embodiment includes: a peripheral image generation unit configured to generate a peripheral image representing conditions around a vehicle based on an imaging result of an imaging unit provided to the vehicle; a parking region acquisition unit configured to acquire a parking region where the vehicle is parkable; a display processing unit configured to display the peripheral image on a display device including a touch panel, and display a first symbol representing the parking region on the peripheral image; and an assist processing unit configured to start, when a position corresponding to the first symbol on the touch panel is touched, parking assist control for assisting parking at the parking region represented by the first symbol.