Upon a driver of a vehicle setting a target parking position, a parking assist system calculates a recommended parking start position which the vehicle can reach with a current steering angle of the vehicle unchanged and from which the vehicle can reach the parking target position with a constant steering angle. The parking assist system then draws a parking start frame figure F2 indicating a recommended parking start position on an overhead image around the vehicle generated using images captured by onboard cameras and displays the same on the display unit. It is therefore possible to properly assist the driving operation for parking allow inexperienced drivers to easily perform parking.