Provided is a recording apparatus including a light irradiation and receiving unit configured to irradiate recording light for performing mark recording to a recording layer and an adjacent servo light for an adjacent track servo onto an optical disc recording medium having the recording layer through a common objective lens, and to receive reflected light from the recording layer of the adjacent servo light, a tracking mechanism configured to drive the objective lens in a tracking direction which is the disc radial direction, a tracking servo signal generation unit configured to obtain a corrected servo error signal as a servo error signal based on a light receiving signal for the adjacent servo light, and to generate a tracking servo signal using the corrected servo error signal, and a tracking driving unit configured to drive the tracking mechanism based on the tracking servo signal.