Parking guiding device, and parking guiding method

A parking guiding device is provided with: an imaging unit that images a guide mark for vehicle guidance and a parking mark for parking a vehicle in a parking space; and a control unit that generates a guide command for guiding the vehicle on the basis of the guide mark imaged by the imaging unit, and that generates a parking command for parking the vehicle in the parking space on the basis of the parking mark imaged by the imaging unit.