An optical recording medium driving apparatus includes an optical pickup which irradiates first and second laser lights from one object lens with respect to an optical recording medium having a bulk layer and a tilt detection surface; a focus control portion that performs the focus control relative to each predetermined position of the optical recording medium in regard to each of the first and second laser lights; a tracking control portion that controls the position of the object lens to perform the tracking control of the first and second laser lights relative to the optical recording medium; and a tilt control portion.