The present invention achieves tracking servo using a recording signal on a grooveless optical disc. Trial writing signals are written by using multiple recording conditions, and a recommended recording condition having favorable qualities of a reproduction signal and a tracking error signal is determined based on the trial writing signals. Then, recording is performed by using the recommended recording condition. In addition, by using a recording condition determined based on an optimum power control performed prior to the recording, signals are recorded adjacent to each other in at least two tracks. Signals are recorded by using the determined recording condition under which a tracking error signal quality obtained from the recording signal matches a desired value of a tracking error signal quality of the medium.