Near-field compensated higher order Ambisonics is a sound field synthesis technique which is based upon a mathematical representation in terms of surface spherical harmonics. The generation of loudspeaker driving signals using digital signal processing is a numerically challenging task due to the involved special functions. This paper presents an efficient algorithm for 2.5-dimensional near-field compensated higher order Ambisonics. It is based upon a parametric representation of recursive filters realized in first- and second-order sections. The performance of the proposed technique is evaluated at an illustrative example.