A method of recording and reproducing an 
optical recording medium which detects a defocus and a tilt of the 
optical recording medium and compensates the detected defocus and tilt in a high-density 
optical recording medium. In a free running state in which only a focus 
servo is turned on, the amount of defocus offset that corresponds to a 
maximum level of a 
tracking error signal is detected in a plurality of positions on inner and outer peripheries of a disc, and a tilt-zero in the respective position is detected and stored, so that a tilt 
servo and a focus 
servo are performed with the value stored in the corresponding position during an actual recording / 
reproduction. The method can prevent the deterioration of quality of data due the defocus during recording / 
reproduction, enabling real time recording by quickly stabilizing the focus servo, and stable operation of the 
system. Also, the method can follow corresponding tracks with a rapid stabilization of servo during a search or seek, and detect and compensate for the tilt stably and accurately in the high-density 
optical disc. The method can also prevent the deterioration of quality of data and a detrack due to the tilt during recording / 
reproduction, and thus achieve stable operation of the 
system.