Provided is a numerical control device for improving cycle time and machined surface quality. The numerical control device (1) comprises: a machining program reading unit (10) that generates, on the basis of a read machining program, a tool center point sequence indicating a path of a center point of a tool of a machining tool; an interpolation control unit (11) that interpolates the tool center point sequence generated by the machining program reading unit (10); a kinematic conversion unit (12) that performs coordinate-conversion on the tool center point sequence interpolated by the interpolation control unit (11) to obtain a control point sequence indicating a path of a control point by which the position of the tool is determined; a smoothing application unit (13) that performs smoothing by performing smoothing processing on the control point sequence, obtained by the kinematic conversion unit (12), with predetermined parameters; and a drive control unit (14) that controls driving of a machining tool A on the basis of the control point sequence smoothed by the smoothing application unit (13).