A printing apparatus includes a belt mover for an endless belt which carries out a line feed of a recording medium, a feed amount calculator that calculates an amount of belt feed of the belt mover, and a movement amount measurer that measures actual amount of movement of the endless belt by image processing. The feed amount calculator calculates the amount of belt feed by which the endless belt is to be fed, on the basis of the amount of belt feed by which the endless belt has been fed and the actual amount of movement of the endless belt measured by the movement amount measurer. The belt mover moves the endless belt by the amount of belt feed calculated.