There is provided an recording apparatus including a light irradiation unit, a reference-plane tracking control unit, a recording unit that executes recording on the recording medium by independently modulating first and second recording beams when the recording beams radiated by the first and second objective lenses are designated as the first and second recording beams, respectively, a recording-layer tracking control unit that performs tracking control of the first objective lens based on reflected light of a first servo beam and tracking control of the second objective lens based on reflected light of a second servo beam when the servo beam radiated by the first objective lens is designated as the first servo beam and the servo beam radiated by the second objective lens is designated as the second servo beam, and a control unit that controls the reference-plane tracking control unit, the recording-layer tracking control unit, and the recording unit.