A teaching device includes a motion image generating unit that generates a motion image in which a workpiece is moved, a position detecting unit that detects the grip position in which a hand grips, and a teaching-point setting unit that sets a teaching point. The position detecting unit detects the grip position on the workpiece when the motion image generating unit moves the workpiece in the motion image. The teaching-point setting unit sets the teaching point based on the grip position on the workpiece.