A control apparatus for a shift-position changing mechanism that changes the shift positions of an automatic transmission mounted in a vehicle using a rotational force of an actuator based on the state of an operation member includes: a detection unit that detects a command to change the shift positions based on a change in the state of the operation member; a control unit that controls the actuator such that the actuator is rotated by a predetermined rotation amount, when a predetermined first condition concerning the state of the vehicle is satisfied in a case the command to change the shift positions is not detected; and a determination unit that determines that a failure has occurred in the shift-position changing mechanism, when a predetermined second condition on the control of the actuator is satisfied.