It is one object of a hale-machining method and apparatus thereof according to the present invention to achieve an easy preparation of an NC machining program and perform a high geometrical accuracy in the predetermined three-dimensional free curved surface.A haling tool 34 is set on a tool holder 32 in such a manner that a cutting point P of the haling tool 34 is substantially coincided with an intersection of a first rotating axis B, a second rotating axis A and a third rotating axis C. A rotary table 16 and a rotary base 24 are rotated in such a manner that a tool axis direction of said haling tool is substantially coincided with a normal direction of said machined surface. A tool holder 32 is rotated in such a manner that a front rake surface of the haling tool 34 is substantially directed in perpendicular to a feeding direction of said haling tool 34. A workpiece table holding a workpiece and the tool holder are relatively moved along a machined surface of said workpiece in three perpendicular axes including an axis parallel to said first rotating axis.