The present technology relates to a moving body and a control method capable of improving affinity of the moving body for a person and a space. A moving body according to one aspect of the present technology includes a top plate that serves as a desk at which a person performs work, a support arm that supports the top plate and that can extend and contract, and a moving unit that holds the support arm and performs movement for causing the work to be performed. Furthermore, the moving body controls a posture state including a state of the support arm and a movement state of the moving unit in accordance with a relationship with an environment state as a state of a surrounding environment and a person state as a state of the person located around, sensed by a sensor. The present technology can be applied to a movable robot.