An information processing apparatus, an information processing method, and a program that allow smooth movement of a mobile body. The information processing apparatus includes a position information acquisition unit, a posture information acquisition unit, a generation unit, and a mobile body controller. The position information acquisition unit acquires position information of a mobile body. The posture information acquisition unit acquires posture information of the mobile body. The generation unit generates a target trajectory to a target point, the target trajectory including a plurality of waypoints each including waypoint information including a position command value and a posture command value for the mobile body. The mobile body controller extracts waypoints existing within a threshold distance from the mobile body using the position information and the position command value, selects a waypoint having a smallest difference between the posture command value, and sets the waypoint as a reference point.