The present invention provides a method for adaptively driving a tracking element with mechanical deviation and a driving device using the same. The method comprises the following steps: recording standard moving time and a standard motor current value, supplying driving voltage to a motor for driving a tracking element, detecting a current value of the motor and detecting moving time of the tracking element, and adjusting a driving gain of the motor based on the relation between the current value of the motor and the standard motor current value, and based on the relation between the moving time of the tracking element and the standard moving time of the standard one.