A numerical controller, which reciprocates a parent axis and a child axis according to a predetermined synchronization ratio by multi-axis synchronization control, is provided with a command decoding unit configured to decode a command including a plurality of command blocks, a distribution processing unit configured to generate a distribution movement amount, which is an amount of movement for each control period of a motor, based on the command blocks, an end-point correction unit configured to perform first correction processing for correcting the distribution movement amount so that a feedback position of the child axis reaches an end point, which is a turning point of the reciprocating motion, and second correction processing for recovering synchronization destroyed by the first correction processing, and a motor control unit configured to drivingly control the motor based on the corrected distribution movement amount.