In this article, we introduce a novel method of assisted driving system intended to help drivers to improve the reverse parking skill. The system is able to assist the driver by applying the haptic instruction on the steering wheel in order to prompt the driver to make the adequate operation. This is helpful to train the driving technique in an intuitive manner. To determine the assistance means, we conducted the preliminary experiment in order to investigate the quantitative characteristics of human driving. Afterwords, we developed 1/10 Scale Car Simulator as a simulation environment on which we installed the proposed assistance method. Finally, we conducted the experiment with subjects by using the simulator. In consequence, we validated that the proposed assisted driving system could accelerate the learning of the humans' driving skills.