A printing method includes selecting any one of a first printing mode and a second printing mode based on a printing position error data and an permissible printing position error; and performing a printing process based on the selected printing mode, wherein the first printing mode is a mode in which after a first liquid is discharged to the recording medium, the recording medium is transported to a upstream side in the transportation direction and other liquid is discharged, and the second printing mode is a mode in which the first liquid is discharged from the upstream nozzles in the transportation direction to the recording medium and other liquid is discharged from nozzles that are positioned from downstream side in transportation direction.