A shift position switching device for shifting gears in association with a shift position. The device includes a shift mechanism switching between shift positions using a drive power of a motor, an encoder outputting pulse signals in sync with a rotation of the motor, and a controller rotating the motor to a target rotation position corresponding to an intended gear. The controller rotates the motor toward a dead-end on a first shift position side of the shift mechanism while observing a motor rotation speed or an acceleration of rotation of the motor based on the outputted pulse signals of the encoder. Also, the controller learns, as a reference position on the first shift position side, a first rotation position of the motor.