An alighting assistance device D of the present disclosure may be a device moving a driver seat rearward in a case where a determination may be made that an occupant seated on the driver seat of a vehicle alights. The device may include a height changer which changes a height of a steering wheel, a sitting height acquirer which acquires a sitting height of the occupant, and a steering wheel controller 33 as one example of a height controller which controls the height changer such that the height of the steering wheel becomes lower as the sitting height acquired by the sitting height acquirer may be higher in the case where a determination is made that the occupant alights.