We study the assisted adiabatic passage, and equivalently the transitionless quantum driving, as a quantum brachistochrone trajectory. The optimal Hamiltonian for given constraints is constructed from the quantum brachistochrone equation. We discuss how the adiabatic passage is realized as the solution of the equation. The formulation of the quantum brachistochrone is based on the principle of least action. We utilize it to discuss the stability of the adiabatic passage.