An information processing apparatus that communicates with a display device that has an image capturing unit and that generates an image to be displayed on the display device, a composed image in which a CG (Computer Graphics) object in a virtual space according to the position and orientation of the image capturing unit is overlaid on a portion of an image, in real space, captured by the image capturing unit. An image generating unit performs a contact determination between the CG object in the virtual space and an operation unit in the real space based on a thickness model generated by a thickness model generating unit, and generates, as an image to be displayed on the display device, the composed image to which the result of the contact determination is reflected.