An apparatus for controlling un-parking of a vehicle includes: a sensor module configured to include at least one sensor that receives an un-parking request signal for a parked vehicle and determines whether a first object around the vehicle is present； and a control module configured to determine a position of a second object based on the un-parking request signal and determine whether the vehicle is un-parked depending on positions of the first object and of the second object to control the un-parking of the vehicle.
