A parking assistance system for helping a driver park a vehicle includes a processor, a proximity sensor module, and an indicator. The proximity sensor module is operably coupled to the processor and is configured to detect a distance of the vehicle from a line on a driving surface or an obstacle. An indicator is operably coupled to the processor. The processor is programmed to cause the indicator to present a continue motion signal when the distance of the vehicle from the line or the obstacle is greater than a threshold distance and to cause the indicator to present a stop motion signal when the distance of the vehicle from the line or the obstacle is equal to or less than the threshold distance.