A steering control apparatus controls includes a steering quantity generation unit generating a steering quantity indicative of an operation performed on the steering member, an adjustment torque generation unit generating an adjustment torque and adjusting a mechanical impedance corresponding to the adjustment torque, and a command value generation unit generating a command value and controlling the motor according to the command value using the adjustment torque generated by the adjustment torque generation unit. The steering quantity is a physical quantity that has different values at least in a state of rotating the steering member, a state of returning the steering member, or a state of retaining the steering member, and the steering quantity indicates an operation amount of rotating the steering member or an operation amount of returning the steering member.