In a numerical control device, a transfer command derivation unit obtains an intervening variable corresponding to each time point at every unit time of a reference time based on an intervening variable time function, and with respect to an intervening variable within a posture adjustment interval among the obtained intervening variables of the respective time points, the transfer command derivation unit obtains a position coordinate of a tip point on a tip path corresponding to the intervening variable and a position coordinate of a midair point on a midair path corresponding to the intervening variable, adjusts the obtained position coordinate of the midair point based on posture adjustment information so that a variation in a direction of a projection tool axis vector becomes more gradual, and obtains a tool axis vector extending from the obtained tip point to the adjusted midair point, while with respect to an intervening variable outside of the posture adjustment interval among the obtained intervening variables of the respective time points, the transfer command derivation unit obtains a position coordinate of the tip point on the tip path corresponding to the intervening variable and a tool axis vector extending from the tip point toward the midair point on the midair path corresponding to the intervening variable, and sets the obtained position coordinate of the tip point and the obtained tool axis vector as the position coordinate of the tip point and the tool axis vector at each time point.