A walking assistance apparatus includes frames, at least one leg joint part that connects the frames, a drive unit for driving the leg joint part, a controller for controlling the drive unit so that the drive unit generates a first driving force to assist the walking motion, and an acquisition unit for acquiring an assisting level based on which a magnitude of an assisting force of the drive unit is determined when the walking motion is assisted. The controller controls the first driving force of the drive unit according to the acquired assisting level. The controller controls the drive unit so that the drive unit generates a driving force when the acquired assisting level is equal to or lower than a predetermined level, the driving force being obtained by reducing the first driving force by a second driving force corresponding to a friction force caused in the leg joint part.