Provided is a walking assist device including a seat member having a holding portion to be held by a user, a leg link connected to the seat member, and a driving source capable of driving the leg link in a direction of pushing up the seat member. At least a part of the body weight of a user is supported by the leg link through the seat member. The walking assist device can be self-mounted easily by the user. When a holding detection unit detects that the holding portion is held by the user, the walking assist device performs a mounting assist control by driving the leg link in the direction of pushing up the seat member until a seating detection unit detects the contact of the seat member with the crotch of the user.
