Many institutes and companies have been developed wearable robots for people with disability. However most of wearable robots require a walker or canes for maintenance of balance and lateral weight bearing. Consequently, the user gets large physical burden. In this paper, we have developed a new wearable robot with a weight bearing mechanism. Our wearable robot assists not only the hip, knee and ankle joint movement but also the lateral movement of the pelvis by means of a parallel link mechanism. Carrying out experiments of our wearable robot with normal subject, we confirmed that the lateral weight bearing could be performed by our mechanism. We also confirmed that our wearable robot was able to assist walking.