An optical fiber φ-OFDR shape sensor with a submillimeter spatial resolution of 200 µm was demonstrated by using femtosecond-laser-induced permanent scatter array (PS array) multicore fiber (MCF). A PS array was successfully inscribed in each slightly twisted core of the 400-mm-long MCF. The two-dimensional (2D) and three-dimensional (3D) shapes of the PS-array-inscribed MCF were successfully reconstructed by using PS-assisted φ-OFDR, vector projections, and the Bishop frame based on the PS-array-inscribed MCF. The minimum reconstruction error per unit length of the 2D and 3D shape sensor was 2.21% and 1.45%, respectively.