A safe exiting assistance system includes an object detector that detects an object which approaches from a rear side of a vehicle, a body detector that detects physical information of a passenger in the vehicle, a door opening/closing detector that detects door opening or closing information of the vehicle, a determiner that determines whether a situation requires alert to the passenger in response to detection results of the object detector and the door opening/closing detector and calculates a value sensed by the body detector in response to vehicle information set in advance, and a controller that differently controls a position and an irradiation angle of a light source in response to the physical information when information in which the alert is necessary is received from the determiner.