An optical pickup is arranged under an optical disk. Tracks of the disk are irradiated with a laser beam from the pickup. A beam reflected by a given track becomes incident on the pickup. A tracking error signal from the pickup is supplied to a lens moving actuator through a gain phase compensating circuit and a lens driving circuit, and an objective lens in the pickup is radially moved along disk. The tracking error signal is supplied to a voice coil motor through the phase compensating circuit. A carriage carrying the pickup thereon can be radially moved along the disk. When a tracking instruction is generated, the lens driving circuit drives the objective lens to start tracking. Meanwhile, the low-frequency components of the tracking error signal which are lower than the resonance frequency of the lens tracking circuit are amplified by the gain phase compensating circuit. When the tracking error signal is converged within a predetermined threshold range, the amplification of the low-frequency components of the tracking error signal is stopped. At the same time, the operation of the voice coil motor is started. Tracking is performed by both the objective lens and the carriage to achieve two-step servo tracking.