A vehicle parking support device comprising a processing circuit configured to: acquire a first image at a first time and a second image at a second time later than the first time from a monocular camera mounted on a vehicle; calculate an amount of movement of the vehicle, on the basis of a wheel speed pulse number which is measured by counting a wheel speed pulse from the vehicle by a wheel speed sensor during a measurement period between the first time and the second time; calculate a moving distance of the vehicle between the first time and the second time as the amount of movement of the vehicle using an expression of π × T × np/N where π represents the circumference ratio, T represents the tire diameter of the vehicle, np represents the wheel speed pulse number and N represents a wheel speed pulse number per tire rotation of the vehicle; output a result of distance measurement using a first distance measurement method in which a distance from the monocular camera to an object is calculated by an expression of H × f/Y where H represent a height of an installation position of the monocular camera, f represents a design value of the monocular camera and Y represents a height of an image of the object on an imaging surface when the moving distance is shorter than a first threshold: calculate (109A, S110A, S111A), when the moving distance is not shorter than the first threshold, an amount of turning generated by movement of the vehicle between the first time and the second time as the amount of movement of the vehicle; output (S113A) the result of distance measurement using the first distance measurement method when the amount of turning is smaller than a second threshold: output (S114A) the result of distance measurement using a second distance measurement method in which the distance is estimated based on a movement of the object on images captured by the monocular camera and an amount of displacement of the monocular camera which corresponds to the amount of movement of the vehicle when the amount of turning is not smaller than the second threshold; and output a result of calculation of a route for guiding the vehicle to a parking space, on the basis of the result of distance measurement. acquire a first image at a first time and a second image at a second time later than the first time from a monocular camera mounted on a vehicle; calculate an amount of movement of the vehicle, on the basis of a wheel speed pulse number which is measured by counting a wheel speed pulse from the vehicle by a wheel speed sensor during a measurement period between the first time and the second time; calculate a moving distance of the vehicle between the first time and the second time as the amount of movement of the vehicle using an expression of π × T × np/N where π represents the circumference ratio, T represents the tire diameter of the vehicle, np represents the wheel speed pulse number and N represents a wheel speed pulse number per tire rotation of the vehicle; output a result of distance measurement using a first distance measurement method in which a distance from the monocular camera to an object is calculated by an expression of H × f/Y where H represent a height of an installation position of the monocular camera, f represents a design value of the monocular camera and Y represents a height of an image of the object on an imaging surface when the moving distance is shorter than a first threshold: calculate (109A, S110A, S111A), when the moving distance is not shorter than the first threshold, an amount of turning generated by movement of the vehicle between the first time and the second time as the amount of movement of the vehicle; output (S113A) the result of distance measurement using the first distance measurement method when the amount of turning is smaller than a second threshold: output (S114A) the result of distance measurement using a second distance measurement method in which the distance is estimated based on a movement of the object on images captured by the monocular camera and an amount of displacement of the monocular camera which corresponds to the amount of movement of the vehicle when the amount of turning is not smaller than the second threshold; and output a result of calculation of a route for guiding the vehicle to a parking space, on the basis of the result of distance measurement.