A lens position control device is a lens position control device that controls a position of a variable magnification lens of a zooming optical system provided at an endoscope and includes a DC motor with a brush that generates a drive force for changing the position of the variable magnification lens, a drive circuit that drives the DC motor with a brush by repeating an application state where a drive voltage is applied between a pair of terminals of the DC motor with a brush and a release state where the terminals are released from each other, and a processor that controls the position of the variable magnification lens based on a time-integrated value of a counter-electromotive force generated at the DC motor with a brush in the release state.