A numerical controller has a first axis (reference axis) and a second axis (superimposed axis), and performs superimposed control which superimposes a movement amount of the reference axis on a movement amount of the superimposed axis, and thereby controls the movement of the superimposed axis. The numerical controller controls an acceleration start time of the axis to be accelerated, in a superimposition interval in which the reference axis is accelerated and the superimposed axis is decelerated (or reference axis is decelerated and superimposed axis is accelerated). After the axis to be decelerated is sufficiently decelerated, the axis to be accelerated is accelerated, and a moving speed of the superimposed axis does not exceed a speed limit of a machine in an acceleration/deceleration interval.