A magnetic recording and reproducing apparatus has a magnetic recording medium onto which servo information including position information is recorded by a concavo-convex pattern formed by a magnetic layer and a signal processing circuit that generates position control signal of a magnetic head based on amplitude values of fundamental wave component and at least one harmonic component in a reproduced signal of the position information. This magnetic recording and reproducing apparatus can increase the output of the position control signal and also increase the accuracy of the positioning control of the magnetic head.