A parking assist apparatus comprises an imaging apparatus and a controller configured to extract feature points from captured image where a region a driver desires to register a parking position therein is captured, and register the extracted feature points in association with the parking position, registering this position as registered parking position. When it is determined that a feature point(s) is detectable from captured image, the controller calculates the registered parking position by detecting the feature point(s), and performs parking assist control for parking the vehicle in the registered parking position. When a situation where a feature point(s) is not detected even once from the captured image has occurred consecutively a predetermined number of times, the controller erases this feature point(s), newly extracts a same number of feature point(s) as the erased feature point(s) from the captured image, and registers the newly extracted feature point(s) in association with the registered parking position.