An apparatus and a method for parking assistance is provided that include a controller configured to determine an intention to park based on vehicle condition information and environmental information. In addition, the controller is configured to set a parking mode of a vehicle by analyzing the direction of the vehicle and a gear position, when the vehicle stops in an area in response to determining that the vehicle is to be parked. Furthermore, the controller is configured to assist the vehicle in automatic parking into a target parking lot based on the set parking mode.