To provide a parking support device capable of starting an automatic steering control smoothly without any special operation after recognizing a target parking position.

The parking support device includes a target parking position setting part 2 that sets a target parking position, a guide path calculating part 3 that calculates a guide path to the target parking position, a notification information output part 4 that outputs notification information by which the driver is notified that automatic steering can be enabled, when the guide path is established, an unheld state determination part 5 that determines whether the steering device is in an unheld state in which the steering device is not held by the driver, and a guidance start determination part 7 that determines, if the guide path is established and the steering device is in the unheld state, that a guidable state in which a guide part 6 that controls the steering device to guide the vehicle to the target parking position by automatic steering can guide the vehicle is established, and causes the guide part 6 to start the guidance.