Disclosed are a parking assistance apparatus and a parking assistance method for a vehicle. The parking assistance apparatus for a vehicle according to the exemplary embodiment of the present invention may include: a parking line detecting unit which detects a left parking line and a right parking line of a parking space based on an image; an obstacle sensing unit which detects an obstacle existing within a predetermined distance based on a sensor; and a route creating unit which combines information about positions of the left parking line, the right parking line, and the obstacle, and creates a parking route.