Disclosed are an apparatus for measuring distance using two-step tracking and a method thereof. More particularly, the apparatus includes a bit generator configured to generate coarse bits for first tracking from sensing data to measure distance to a target and fine bits for second tracking, corresponding to the coarse bits, to measure precise distance to the target; a coarse bit processor configured to receive the coarse bits, address the received coarse bits in any one histogram bin, which corresponds to the received coarse bits, among a plurality of histogram bins, and output coarse bits, which correspond to any one histogram bin exceeding a preset threshold among the histogram bins, as reference coarse bits; and a fine bit processor configured to output fine bits corresponding to the reference coarse bits.