The configurations of an H-bridge circuit and a controlling method thereof are provided in the present invention. The proposed circuit includes an H-bridge having a first and a second bridge arms, each of which has a middle point, and a bidirectional switch connected to the two middle points, a bootstrap circuit providing a bootstrap voltage, a driving circuit receiving the bootstrap voltage and driving the bidirectional switch, and an energy compensation circuit coupled to the H-bridge, the bootstrap circuit and the driving circuit, and providing a compensation energy to the bootstrap circuit.