Provided is an assist apparatus for a vehicle leaving a parking space, including an automatic leaving execution unit configured to execute automatic leaving by automatic travel control mode of the vehicle and a switching control unit configured to switch driving of the vehicle from the automatic travel control mode to driver's driving operation mode, in which a state of the vehicle is determined and whether or not to perform a predetermined automatic travel control before switching the drive of the vehicle to the driver's driving operation mode is determined based on the determination result of the state of the vehicle.