To control the tilt of the objective lens of an optical pickup without using a tilt sensor.

This recording and reproducing device has an optical pickup capable of controlling the tilt of the objective lens; an focusing control means; a 1st average angle calculating means to detect tracking errors at an inner and outer areas of a reference disk to find out an average reference angle by averaging maximum reference amplitude angles at a maximum amplitude; a jitter angle detector to detect a jitter response angle corresponding to a minimum jitter of a reproduced signal; a calculating means to find out a correction value to correct the tilt of the objective lens based on the jitter response angles and the average reference angle; a 2nd average angle calculating means to detect the tracking errors in the inner and outer areas of the disk to calculate the use average angle by averaging each peak amplitude angles at the maximum amplitude; a tilt calculating means to obtain the suitable tilt angle of the objective lens based on the tilt correction value and the average angle; and a tilt controller to control the tilt angle of the objective lens based on the tilt correction value.