Disclosed herein is a position control apparatus using a joystick, capable of restricting motion of an object when pressure acting on the object is sensed and the pressure is applied thereto. The position control apparatus using a joystick includes a stick unit, a sensing unit, a motor, and a pressing unit. The stick unit includes a stick bar which is capable of rotating about a point between one end and the other end thereof when a load is applied to one end thereof. The sensing unit senses a rotation position of the stick unit. The motor is driven when pressure is measured by a pressure sensor. The pressing unit applies pressure to the stick bar by driving the motor in proportional to the pressure measured by the pressure sensor, so as to prevent the stick bar from rotating in an increasing direction of the pressure.