A numerical control device causes a machine tool to perform cutting with a command coordinate value indicated by a cutting command received from a command analysis unit. The numerical control device includes a dynamic compensation parameter calculation unit that calculates a dynamic compensation parameter for compensating for a dynamic error generated by a force acting on the machine tool and a velocity upon cutting, based on a command shape, and a dynamic compensation unit that compensates for the dynamic error with respect to the command coordinate value, based on the dynamic compensation parameter calculated, in which the dynamic compensation parameter calculation unit acquires only the dynamic error from a comparison of the command shape and the measurement data, and calculates the dynamic compensation parameter from the dynamic error acquired.