A hole drilling method includes a rotating step of attaching a workpiece to a rotary table to make the workpiece rotate in an opposite direction to the rotating direction of the rotary tool and a drilling step of making the rotary tool and the workpiece move relative to each other in a direction in which they approach each other so as to drill a hole. The hole drilling step comprises making a position of the rotary tool track the rotation of the workpiece while drilling the hole so that the rotary tool is arranged at a position for drilling a hole in the workpiece.