A calculation accuracy of a communication quality for use in selecting a communication path is improved. A radio communication device includes: a first calculator configured to calculate a transmission quality indicator value of each of a plurality of parent candidate nodes on the basis of a transmission frame transmitted from an own device to each of the plurality of parent candidate nodes; a second calculator configured to calculate a reception quality indicator value of each of the parent candidate nodes on the basis of a reception frame transmitted from each of the plurality of parent candidate nodes and received by the own device; and a selector configured to select a parent node for use in the communication path among the plurality of parent candidate nodes on the basis of the transmission quality indicator value and the reception quality indicator value.