A wireless communication device transmits and receives a signal by a wireless communication using a millimeter wave frequency band. The wireless communication device includes an antenna section having directivities in a plurality of different directions, an antenna control section adapted to form a directivity in a prescribed direction among the plurality of directivities of the antenna section, a direction and position estimation section adapted to estimate direction and position information of a wireless communication device to be communicated with, which is a target for the wireless communication, in accordance with a receiving signal received by the antenna section having the directivity formed, and a display section adapted to display the estimated direction and position information of the wireless communication device to be communicated with.