The integrated contouring controller, that includes feedback, zero phase error tracking controller (ZEPTC), and cross coupling controller (CCC), is considered in this study. The objective of the integrated controller is to enhance the performance of conventional CCC by introducing an optimal gain and adaptive control law. The optimal control gain for CCC is designed systematically using the contour error transfer function. A parameter adaptation algorithm (PAA) is employed to both ZPETC and optimal CCC gain to form an adaptive integrated contouring controller. Experimental results verify the effectiveness of the proposed controller.