A digital tracking device for use in a helical scan type magnetic recording and reproducing apparatus with an ATF system utilizing four-frequency pilot signals includes a sampling circuit which samples reproduced pilot signals with a frequency of a predetermined one of the four pilot signal frequencies, digital filter circuits for deriving aliasing signal components of the predetermined pilot signal produced by the sampling circuits, and a feedback circuit for feeding back a tracking error signal corresponding to signal levels of the aliasing signal components derived by the digital filter circuits to a magnetic tape drive system of the recording and reproducing apparatus.