An audio processing device and an audio processing method are provided. The audio processing device includes a first controller configured to initialize the audio processing device; and a second controller configured to connect the audio processing device and an audio output device while the first controller initializes the audio processing device, and to transmit a message reporting completion of the connection of the audio processing device and the audio output device to the first controller, wherein the first controller is configured to start an operation of outputting audio to the audio output device in response to the message reporting the completion of the connection from the second controller.