A numerical control apparatus controls a machine having X- and Y-axis linear moving axes of a table 1, and a pivot axis B for rotationally pivoting a pivot member (4) having a tool (5) arranged at a distal end thereof about an axis parallel to a Z axis. A moving command obtained by a command program commanded by a position expressed by X, Y, and Z values in a three-dimensional orthogonal coordinate system is subjected to an interpolation process to calculate amounts of interpolation movement (ΔX, ΔY, and ΔZ) of the respective orthogonal axes. An amount of rotation Δθ of the pivot axis required for moving the tool by the amount of movement ΔY in the Y-axis direction is calculated. An amount of correction movement δx for cancelling the movement in the X-axis direction caused by the rotation Δθ of the pivot axis B is calculated. Values (ΔX + δx), Δθ, and ΔZ are outputted to the X axis, the pivot axis B, and the Z axis, respectively.