A magnetic recording and reproducing apparatus includes: a recorder for recording information signals so as to form tracks obliquely on a magnetic tape, and for recording pilot signals so that the frequency may differ between different modes such as SP and LP; a reproducing head for reproducing recorded information; an error detecting circuit for comparing the level difference of pilot signals recorded in both tracks adjacent to the track to be scanned by there producing head and for outputting a tracking error signal; and a controller for controlling the feed of the magnetic tape so that the tracking error signal may be balanced. Preferably, in the LP mode, a pilot signal of a higher frequency than that used in the SP mode is recorded. In a tracking error detector for a magnetic recording and reproducing apparatus for detecting the pilot signal, the reproduced signals are sampled at a frequency at a common multiple of each pilot frequency, a pilot signal is detected, and a tracking error signal is output.