In this paper we present a novel phrase structure parsing approach with the help of dependency structure. Different with existing phrase parsers, in our approach the inference procedure is guided by dependency structure, which makes the parsing procedure flexibly. The experimental results show our approach is much more accurate. With the help of golden dependency trees, F1 score of our parser achieves 96.08% on Penn English Treebank and 90.61% on Penn Chinese Treebank. With the help of N-best dependency trees generated by modified MSTParser, F1 score achieves 90.54% for English and 83.93% for Chinese.