A recording/reproducing apparatus and a tracking control method which can perform data processing for reliably recording or reproducing data on or from a recording medium are disclosed. Tracking error signal (TE) is generated using difference signal (A−B) produced from reflected light from a recording medium and an offset included in the difference signal is compensated for using another reflected light received separately from the reflected light. Offset-compensated tracking error signal ((A−B)−k(C−D)) is obtained by subtracting another difference signal (C−D) produced from the separately received reflected light according to gain (k) from difference signal (A−B). Different gains may be used for areas on the recording medium having different reflectances. Thus, the tracking error signal can be compensated for an optical offset caused by lens movement and an offset caused by different reflectances and light radiated to the recording medium can accurately follow its track to perform reliable data processing.