A magnetic recording and reproducing apparatus includes: a magnetic recording medium onto which servo information including position information is recorded by a plurality of concavo-convex patterns formed by a magnetic layer; a gate circuit that extracts a part of a reproducing signal of the concavo-convex patterns by removing an end of a signal corresponding to a concave portion or a convex portion of the concavo-convex patterns from the reproducing signal; a first integrator that obtains area integral of an extracted reproducing signal; and a second integrator that adds respective signals after area integral is obtained to each other to generate a position control signal for controlling a position of a magnetic head. Thus, the magnetic recording and reproducing apparatus can make an output of the position control signal larger and can perform positioning control for the magnetic head with high precision.