A rehabilitation assisting apparatus has a main body, a waist assisting unit mounted above the main body, and two leg assisting units separately disposed side by side above the main body. Each of the leg assisting units is pivotally connected with the waist assisting unit. An upper rocking plate of the waist assisting unit can be driven to roll leftward and rightward to rehabilitate or train a waist of a user. A leg lifting bracket of each of the leg assisting unit can be driven to pitch upward and downward to rehabilitate or train a leg of the user.