An optical pickup device is provided. The optical pickup device includes a light source, a focusing optical system configured to irradiate an optical recording medium with near-field light, a light-detecting unit configured to detect a total-reflection return-light quantity from the optical recording medium, a control unit configured to generate a control signal in response to a detection signal supplied from the light-detecting unit, and a drive unit configured to drive the focusing optical system to a predetermined position above the optical recording medium. The control unit feeds forward a push-pull signal in a traveling direction of the drive unit relative to the optical recording medium to a gap-error signal supplied from the light-detecting unit to generate a gap-servo signal. The control unit includes a repetitive controller storing a predetermined number of the push-pull signals.