A printing device includes a processor, a print head configured to perform a printing, and a sensor configured to detect a moving direction and a moving distance of the printing device. The processor is configured to perform processing of, while the printing device moves in a first direction, disabling the print head from performing the printing, and acquiring a first moving distance of the printing device in the first direction detected by the sensor, processing of, while the printing device moves in a second direction which is different from the first direction, determining that the print head has reached a printing start position when moving of a second moving distance based on the first moving distance of the printing device is detected by the sensor, and processing of, when it is determined that the print head has reached the printing start position, enabling the print head to start the printing.