A walking assist device includes: a pair of right and left handles that are movable back and forth with respect to a frame in accordance with arm swing performed during walk of a user； rails on which the handles are provided and which limit movement of the handles in a movable range in accordance with arm swing performed during the walk of the user； a handle information acquisition unit that acquires information related to movement of the handles； and a control unit that controls a drive unit in accordance with the information from the handle information acquisition unit.
