In a parking assistance device, a ground mark indicating the coil axis direction and position of a ground coil is placed at a parking space, and a vehicle mark indicating the coil axis direction and position of a vehicle coil is displayed in an image displayed on a display unit. Then, the vehicle mark is displayed in the image in such a way as to be superimposed on the ground mark when the vehicle on which the vehicle coil is mounted reaches a position and angle at which the vehicle can be wirelessly charged.