Disclosed herein are an optical recording medium driving device and an additional recording method, which performs tracking servo control for moving an objective lens in a direction orthogonal to a tangential direction of a guide track so that a guide tracking error signal is decreased with respect to a guide track of a guide layer separation type recording medium, detects an additional recording start position subsequent to a recorded track if the recorded track is present in a recording layer of the optical recording medium, generates a tracking correction signal according to the reproduction tracking error signal upon tracking servo control of the recorded track just before the additional recording start position, and corrects tracking servo control according to the tracking correction signal upon additional recording start.