Disclosed herein is an image pickup apparatus including, a lens driving control section configured to execute driving control of a lens, and a main control section configured to produce lens driving control information as setting information of a lens driving mode of the lens driving control section, the main control section produces lens driving control information which includes a final setting position for the lens and a returning amount as a distance over which the lens is returned after the lens passes the setting position, the lens driving control section being operable to execute a process of moving the lens to pass the setting position once in response to the setting position and the returning amount and then execute a returning process by the returning amount to position the lens to the setting position.