An image pickup apparatus comprising: a lens apparatus having: an image pickup optical system including a focus lens unit and a zoom lens unit; a zoom state detector; and a controller; a camera apparatus having: a light receiving unit; and an image display unit; an AF frame operation unit; and a distance measuring unit installed with a parallax with respect to an optical axis of the image pickup optical system, in which the controller is configured to: select, from among measured distances obtained by the distance measuring unit, a measured distance obtained in an angle of field of the AF frame, based on a position of the zoom lens unit detected by the zoom state detector and a position of the AF frame set in the display; and perform the focusing by driving the focus lens unit based on the selected measured distance.