Advanced driver assistance systems (ADAS) such as parking assist have been wide spread. Although ADASs have successfully reduced driver's workload, it is pointed out that such ADASs do not take development of driver's skills into account. The present study focused on the assist system for parking in backward since it is a demanding task for novice drivers. We proposed a method to assist driver's parking operation using haptic shared control, which aims assisting driver's operation by haptics and improving driver's operation skill simultaneously. The proposed method displays torque around the steering wheel that is composed of vehicle position feedback to reduce its error from the desired position and steering angle feedback to reduce its error from the desired steering wheel angle determined by the preview driver model. Driving simulator experiments with various combinations of the feedback gains indicated that the skill improvement were achieved after intervention by the proposed assist that emphasizes the desired steering angle.