A mobility assistance device including a base section and an upright section. The base section is configured to be disposed under a cushion-type portion of a piece of furniture. The base section includes a first base component and a second base component, each of the first and second base components including a first portion defining a base plane and a second portion extending generally upright in a plane perpendicular to the base plane. The upright section includes an arched component configured to couple the second portions of the two base components, and a height-adjustable handle coupled to the arched component.
