A radio communication apparatus that performs radio communication with another communication apparatus includes an antenna unit, a contact detecting unit that detects contact with the another communication apparatus, a first modulating and demodulating unit for performing communication in a state in which the radio communication apparatus is remote from the another communication apparatus, a second modulating and demodulating unit for performing communication in a state in which the radio communication apparatus is in contact with the another communication apparatus, and a control unit that performs control to perform radio communication with the another communication apparatus via the antenna unit by selecting the first modulating and demodulating unit while the contact detecting does not detect contact with the another communication apparatus and selecting the second modulating and demodulating unit when the contact detecting unit detects contact with the another communication apparatus.