An electric power steering apparatus comprising a torque detector 6 for detecting a steering torque applied to a steering wheel (not shown) and a steering assist motor 8 which is driven under control based on a drive current corresponding to the steering torque detected by the torque detector 6. By further comprising an angle detector 20 for detecting a turn angle of the steering wheel, angular velocity calculating means 23 for calculating an angular velocity of turn of the steering wheel from the turn angle detected by the angle detector 20, friction compensating unit 24 for calculating an angular acceleration of turn of the steering wheel for friction compensation from the angular velocity of turn calculated by the angular velocity calculating means 23 and adding means 24d, 25 for adding a current related to the angular velocity of turn and a current related to the angular acceleration of turn calculated by the friction compensating unit 24 to the drive current, friction compensation is performed at the start of steering, more accurate friction compensation of a steering system is carried out, and an electric power steering apparatus having a good feel of steering is achieved.