Printing apparatus and printing method

A printing apparatus includes: a printing unit that performs printing on a printing medium; a drive unit that causes the printing unit to move; a power supply unit that supplies power to the drive unit; a detection unit that detects the movement of the printing unit; and a controller that controls an initialization operation related to the printing unit based on a detection result of the detection unit. When power supply from the power supply unit to the drive unit is started, the controller acquires the detection result obtained when power is not supplied, performs the initialization operation in a case where a movement of the printing unit is detected in the detection result, and does not perform the initialization operation in a case where a movement of the printing unit is not detected in the detection result.