A simulation apparatus includes a processor that executes a simulation of a control program executed on a controller. The controller controls motion of a machine that handles an object. The processor includes: a motion control device that controls motion of a virtual machine based on a motion command to move the virtual machine in a virtual space, with the virtual machine corresponding to the machine; a determination device that determines whether a volume of a region, where a work space in which the virtual machine works overlaps with the virtual object, is equal to or greater than a predetermined reference value, the virtual object being handled by the virtual machine and corresponding to the object; and a follow-up device that makes the virtual object follow the motion of the virtual machine based on the motion command when the volume is equal to or greater than the reference value.