A walking assist apparatus includes a pair of wheels, at least one first driving unit that drives the pair of wheels, a main body that rotatably supports the pair of wheels, and a grip that is disposed at one end of the main body to be able to be gripped. The walking assist apparatus includes a sensor unit configured to detect an angular change in an inclination angle of the main body in a pitch direction, and a first control unit configured and programmed to control an operation of the at least one first driving unit based on an output of the sensor unit such that the angular change of the main body is zero.
