An electric power steering apparatus includes steering mechanisms that direct left and right front wheels of a vehicle equipped with the electric power steering apparatus according to rotation of a steering shaft to which a steering wheel is coupled, a first motor and a second motor that give an assist torque to the steering mechanisms, and a controller that controls the assist torques generated by the first motor and the second motor. The controller causes the first motor to generate the torque in a direction of the steering operation when a generation of the assist torque is started. The controller causes the second motor to generate the torque after a rotation of the first motor is detected. The torque of the second motor is smaller than the torque of the first motor and opposite from the direction of the steering operation.