The present invention relates to an apparatus and method for parking assist. The parking assist apparatus includes: a parking space search unit configured to search for a plurality of parking spaces, in which parking is possible, and objects adjacent to the plurality of parking spaces while a vehicle travels and is being braked; a parking space storage unit configured to generate parking space information including a width and length of the parking space and a parking direction and object information including a type and size of the object and configured to store parking space identification information including the parking space information and the object information; a parking space output unit configured to output the parking space identification information on each of the plurality of parking spaces and configured to display and output a parking-planned space to a driver; and a parking space selection unit configured to receive a selection signal from the driver of the vehicle and select the parking-planned space.