A programming device including a planar shape indication section which receives at least one first user operation for indicating a planar shape by specifying two or more portions among a plurality of portions arranged at different positions in a planar direction; a height reception section which receives at least one second user operation for indicating a height that is a position in a direction intersecting with the plane or a displacement amount of the height in association with a portion of any of the two or more portions; and a control section which generates a command list for moving a control target section along a three-dimensional shape indicated by the planar shape indication section and the height reception section.