A numerical controller controls a multi-axis machining machine having three linear axes and three rotation axes that include one rotation axis for tool phase control. The numerical controller interpolates smoothly a tool center point position and a tool posture (tool direction and tool phase direction) on the basis of a tool center point position instruction and a tool posture instruction; works out an interpolated tool center point position and an interpolated tool posture (interpolated tool direction and interpolated tool phase direction), and, on the basis of the interpolated tool center point position and the interpolated tool posture that have been worked out, calculates each position of the three linear axes and three rotation axes of the multi-axis machining machine, such that the respective axes are driven to the calculated position.