An exposure method of exposing a substrate arranged on a stage, which holds the substrate and moves, to light through an original and a projection optical system. A first measurement is performed for measuring a first drive characteristic of the stage by detecting a position of a pattern on the stage using a first detection system, which detects a position of a pattern on the substrate through an optical system, which does not include the projection optical system, a second measurement is performed for measuring a second drive characteristic of the stage by detecting the position of the pattern on the stage using a second detection system, which detects the position of the pattern on the stage through the projection optical system, and the original and the substrate are aligned based on the first and second drive characteristics.