An image forming apparatus includes an image forming device, an image position detector, and an image density detector. The image forming device forms an image on a surface of a recording medium. The image position detector detects a position of the image. The image density detector detects a density of the image. The image forming device forms a position detection image on a surface of a first recording medium. The image position detector detects a position of the position detection image on the surface of the first recording medium. The image forming device forms a density detection image on a second recording medium. The image density detector detects a density of the density detection image on the surface of the second recording medium.